6.12 Absolute Encoders
6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder
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6.12.7
Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as multiturn data to the host controller with the
PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request) turns OFF.
The data format of the alarm information is shown below.
6.12.8
Multiturn Limit Setting
The multiturn limit is used in position control for a turntable or other rotating body.
For example, consider a machine that moves the turntable shown in the following diagram in
only one direction.
Because the turntable moves in only one direction, the upper limit to the number of revolutions
that can be counted by an absolute encoder will eventually be exceeded.
The multiturn limit is used in cases like this to prevent fractions from being produced by the
integral ratio of the number motor revolutions and the number of turntable revolutions.
For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the set-
ting for the multiturn limit setting (Pn205).
Multiturn limit (Pn205) = m - 1
The relationship between the number of turntable revolutions and the number of motor revolu-
tions is shown in the following graph for when m is 100 and n is 3.
Set Pn205 to 99.
Pn205 = 100 - 1 = 99
ALM signal
Motor power
status
Main circuit
power supply
Control power
supply
SEN signal
PAO signal
Servo ON
(Power supplied.)
Servo OFF (Power not supplied.)
ON OFF
ON
Alarm information
ON OFF
A
L
M
0 to 9
0 to 9
.
CR
Upper two digits
of alarm code
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