Omron R88A-MCW151-DRT-E - Page 70

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System Functions Section 3-3
The multi-turn limit settings will set this amount of multi-turn rotations
With the default setting (Pn205=65535), the Servomotor multi-turn data will be
as follows:
With any other setting than 65535, the Servomotor multi-turn data will be as
follows:
When the value is other than the default setting, the maximum value sup-
ported by the MC Unit is 32767.
Absolute Encoder Data The absolute encoder position will be determined at start-up by retrieving the
following information
Param-
eter No.
Parameter Name Setting
Range
Unit Default
Setting
Restart
Power?
Pn205 Absolute encoder
multi-turn limit setting
0 - 65535 Rotation 65535 Yes
Multi-turn data
Servomotor rotations
+32767
-32768
0
Multi-turn data
Servomotor rotations
Pn205
0
Variable Description
Number of rotations
Resolution of the encoder
Incremental position within one rotation
Current position read by the encoder and
updated in MC Unit at start-up
Incremental position within one rotation read at
setup (to be determined by user)
Current position required for system
M
R
P
i
P
e
P
s
P
m
Position
0+1 +3+4+2-1
P
i
MR⋅
P
e
M=0 M=1 M=2 M=3M=-1
P
s
P
m