Alarm Output From Output Ports For The Position Data From The Absolute Encoder; Multiturn Limit Setting - YASKAWA SGD7S series Product Manual

6.12 Absolute Encoders

6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder

6.12.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as multiturn data to the host controller with the
PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request) turns OFF.
ALM ignal
Motor power
tatu
Main circuit
power upply
Control power
upply
EN ignal
PAO ignal
The data format of the alarm information is shown below.
A
L
M
0 to 9
0 to 9
.
CR

6.12.8 Multiturn Limit Setting

The multiturn limit is used in position control for a turntable or other rotating body.
For example, consider a machine that moves the turntable shown in the following diagram in
only one direction.
Turntable
Because the turntable moves in only one direction, the upper limit to the number of revolutions
that can be counted by an absolute encoder will eventually be exceeded.
The multiturn limit is used in cases like this to prevent fractions from being produced by the
integral ratio of the number motor revolutions and the number of turntable revolutions.
For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the set-
ting for the multiturn limit setting (Pn205).
Multiturn limit (Pn205) = m − 1
The relationship between the number of turntable revolutions and the number of motor revolu-
tions is shown in the following graph for when m is 100 and n is 3.
Set Pn205 to 99.
Pn205 = 100 − 1 = 99
6-82
ervo ON
(Power upplied.)
ON
ON
ON
Upper two digit
of alarm code
Gear
Motor
ervo OFF (Power not upplied.)
OFF
OFF
Alarm information