6 multiturn limit setting, Rotation – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference User Manual

Page 191

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5.9 Absolute Encoders

5-77

5

Ope

rat

ion

5.9.6 Multiturn Limit Setting

The multiturn limit setting is used in position control applications for a turntable or other rotating device. For

example, consider a machine that moves the turntable in the following diagram in only one direction.

Because the turntable moves in only one direction, the upper limit for revolutions that can be counted by an

absolute encoder will eventually be exceeded. The multiturn limit setting is used in cases like this to prevent
fractions from being produced by the integral ratio of the motor revolutions and turntable revolutions.

For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the setting for the mul-
titurn limit setting (Pn205).

Multiturn limit setting (Pn205) = m-1

The case in which the relationship between the turntable revolutions and motor revolutions is m = 100 and n =

3 is shown in the following graph.

Pn205 is set to 99.

Pn205 = 100

− 1 = 99

Note: This parameter is valid when the absolute encoder is used.

The range of the data will vary when this parameter is set to anything other than the factory setting.

1. When the motor rotates in the reverse direction with the rotational data at 0, the rotational data will change

to the setting of Pn205.

2. When the motor rotates in the forward direction with the rotational data at the Pn205 setting, the rotational

data will change to 0.

Pn205

Multiturn Limit Setting

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

0 to 65535

1 Rev

65535

After restart

Setup

Turntable

Gear

Servomotor

Rotation

0

1

2

3

4

5

6

7

8

9

Motor rotations

100 200 300 0

100

50

Rotational data

Table rotations

Set value of Pn205 = 99

Table

rotations

Rotational

serial data

Rotation

Speed

Position

Torque

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