Multiturn Limit Setting - YASKAWA MECHATROLINK Sigma 2 Series User Manual

Appendix C Using the Adjusting Command (ADJ: 3EH)
C.3 Multiturn Limit Setting
INFO
The Adjusting command (ADJ: 3EH) can be used to set the multiturn limit.
Use the following setting procedure.
Be sure to turn the power OFF then ON again after the multiturn limit setting.
1. By setting byte 1 of the MECHATROLINK-II command field to ADJ (3EH) and byte 2
to 00H, the following command field can be set.
Command
5 CCMD
6 CADDRESS CADDRESS
7
8 CDATA
9
2. Send the following data in each command field.
Set "01H" (Data setting) in the CCMD field.
Set "2000H" in the CADDRESS field.
Set "1013H" in the CDATA field.
3. After setting the data, send the command.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
The Multiturn Limit Setting Mode will be entered.
4. Continue by using the following data setting commands.
Set "01H" (Data setting) in the CCMD field.
Set "2001H" in the CADDRESS field.
Set "02H" (Save) in the CDATA field.
5. After setting the data, send the command.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
6. Send the following command.
Set "01H" (Data setting) in the CCMD field.
Set "2001H" in the CADDRESS field.
Set "01H" (Execute) in the CDATA field.
7. After setting the data, send the command. Approximately 2 seconds after sending, con-
firm that the response is correct and that CMDRDY of STATUS is set to 1.
This completes setting the multiturn limit. Turn OFF the power and ON again to confirm
that the SERVOPACK will start up normally.
Response
CANS
CCMD: Command
CANS: Answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
CDATA
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