Multiturn Limit Setting - YASKAWA MECHATROLINK Sigma 2 Series User Manual

6.6.3 Multiturn Limit Setting

• Changing the multiturn limit may change the absolute position data. Be sure to set the multiturn
limit following the controller's designation.
• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the
SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder.
The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting a
dangerous situation where the machine will move to unexpected positions.
When implementing absolute detection systems for machines that turn m times in response
to n turns in the load shaft, such as circular tables, it is convenient to reset the multiturn data
from the encoder to 0 every m turns. The Multiturn Limit
set for the encoder.
Select the absolute encoder usage with the following parameter.
Pn002.2
"0" in the following table must be set in order to enable the absolute encoder.
Pn002.2 Setting
The multiturn limit is set in the SERVOPACK using the following parameter.
Pn205
If the Multiturn Limit Setting is set to 65535 (factory setting), the multiturn data will vary
from -32768 to 32767. If any other value is set, the multiturn data will vary from 0 to the set-
ting of Pn205.
If the servomotor rotates in the negative direction from 0, the multiturn data will change to
the value set in Pn205. If the servomotor rotates in the positive direction from the value set
in Pn205, the multiturn data will change to 0. Set Pn205 to m - 1.
1
TERMS
Multiturn limit
The upper limit of multiturn data. The multiturn data will vary between 0 and the value of Pn205
(multiturn limit setting) when Pn002.2 is set to 0.
WARNING
Absolute Encoder Usage
0
Use the absolute encoder as an absolute encoder.
1
Use the absolute encoder as an incremental encoder.

Multiturn Limit Setting

6-45
1
Setting allows the value m to be
Factory
Setting:
0
Description
Unit: Setting Factory
Range: Setting:
rev
0 to 65535 65535
6.6 Absolute Encoders
Position Control
6
Position Control