YASKAWA E-V-SD Series User Manual page 55

(2) Procedure for Setting a Multiturn Limit
Use the multiturn limit setting when you need to perform position control for a rotor, such as a turntable.
Refer to 8.5.5 Multiturn Limit Setting and 8.5.6 Multiturn Limit Disagreement Alarm (A.CC0) in the
Series User's Manual (Manual No.: SIEP S800000 78) for details on how to use the multiturn limit setting
with the SigmaWin for Σ-V-SD (MT).
Use the following procedure to use the multiturn limit setting with the MEM_WR (1E hex) command from the
host controller.
After initialization, always turn the power supply to the SERVOPACK OFF and ON again.
1.
Make sure that the servo is OFF for an axis before you initialize the absolute encoder.
If the servo is ON, use the Servo OFF command (SV_OFF: 32 hex) to turn OFF the servo.
2.
Write the multiturn limit value to SERVOPACK parameter Pn205 with the SVPRM_WR (41 hex)
command.
Command = SVCMD_WR (41 hex)
No = 205 (Multiturn Limit Value Pn205)
Size = 2 (2 bytes)
Mode = 10 hex (Write to RAM)
Parameter =XXXX (data to write)
Processing has finished when RCMD is SVPRM_WR (= 41 hex) and CMD_STAT.CMDRDY is 1.
3.
Execute the MEM_WR (1E hex) command as the MECHATROLINK-III main command or
subcommand.
Command = MEM_WR (1E hex)
Address = 80004000 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 1013 hex (Request code: 1013 hex is the multiturn limit setting operation.)
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
If an error occurs, perform step 6 and end the adjustment operation.
4.
Send the following data and begin preparations for execution.
Command = MEM_WR
Address = 80004002 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 0002 hex
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
If an error occurs, perform step 6 and end the adjustment operation.
5.
Send the following data to initialize the absolute encoder.
Command = MEM_WR
Address = 80004002 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 0001 hex
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
If an error occurs, perform step 6 and end the adjustment operation.
6.
Send the following data to end the adjustment operation.
Command = MEM_WR
Address = 80004000 hex
Mode/Data_TYPE = 12 hex
Size = 0001 hex
Data = 0000 hex
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
4.5 Absolute Position Detection
Σ
-V-SD
4-19