YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.27 Multiturn Limit Setting (MLTTRN_SET)
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Motion Commands
6.2.27 Multiturn Limit Setting (MLTTRN_SET)
On executing the MLTTRN_SET command, the SERVOPACK auxiliary function Fn013 “multiturn limit setting”
*
is
automatically executed via MECHATROLINK. Execute this command when the SERVOPACK alarm “A.CC0 Multi-
turn Limit Mismatch” has occurred.
 The MLTTRN_SET command is valid for Σ-II, Σ-III, Σ-V, and Σ-7 Series SERVOPACKs with absolute encoders.
A command error will occur if the MLTTRN_SET command is executed when an incremental encoder is being used
with a Σ-II, Σ-III, Σ-V, or Σ-7 Series SERVOPACK (even if it is being used as an absolute encoder).
* Fn013 “multiturn limit setting” is a function that matches the value of SERVOPACK parameter Pn205 “multiturn limit”
with the multiturn limit of the absolute encoder.
For more information, refer to the manual for the SERVOPACK that you are using.
( 1 ) Compatible Versions
The firmware and engineering tool versions that allow multiturn limit setting to be used with MP2000 series SVB mod-
ules are shown in the table below.
The table below indicates whether or not the function can be executed depending on the combination of the versions of
the MP2000 series SVB module and MPE720.
Controller Model Version
MP2100 JAPMC-MC2100 (-E)
Version 2.73 or later
MP2100M JAPMC-MC2140 (-E)
MP2300 JEPMC-MP2300 (-E)
MP2300S JEPMC-MP2300S-E
MP2310 JEPMC-MP2310-E
MP2400 JEPMC-MP2400-E
MP2000 series SVB-01 module JAPMC-MC2310 (-E) Version 1.27 or later
Engineering Tool Model Version
MPE720 Version 5 CPMC-MPE720 Version 5.53 or later
MPE720 Version 6 CPMC-MPE770 (D) Version 6.23 or later
MPE720 Version 7 CPMC-MPE780 (D) Version 7.10 or later
Version
MPE720
Version 5.52, Version 6.22 or earlier
Version
5.53,
Version
6.23 or later
Controller
MP2000 series Version 2.72,
SVB-01 module Version 1.26 or ear-
lier
• Cannot be executed.
•IL02, bit 4 “Motion Command Set
Error” = ON
• Cannot be executed.
•IL02, bit 4 “Motion Command Set
Error” = ON
MP2000 Version 2.73,
SVB-01 module Version 1.27 or later
• Can be executed.
(However, motion commands are not
displayed in the module configura-
tion.)
• Can be executed.

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English