6.6 Absolute Encoders
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6.6.3 Multiturn Limit Setting
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
1
Setting allows the value m to be
set for the encoder.
Select the absolute encoder usage with the following parameter.
“0” in the following table must be set in order to enable the absolute encoder.
The multiturn limit is set in the SERVOPACK using the following parameter.
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.
• 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.
WARNING
1
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.
Pn002.2 Absolute Encoder Usage Factory
Setting:
0
Position Control
Pn002.2 Setting Description
0
Use the absolute encoder as an absolute encoder.
1
Use the absolute encoder as an incremental encoder.
Pn205 Multiturn Limit Setting Unit:
rev
Setting
Range:
0 to 65535
Factory
Setting:
65535
Position Control
TERMS
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