Yaskawa MP940 Reference Manual - Manual (Page 307)

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function
7-13
Select the absolute encoder usage method by the following user parameter.
Set the following to 0 to enable the absolute encoder.
Set the multi-turn limit into the servo amplifier by the user parameters.
The multi-turn data varies within a range of -32768 ~ +32767 when the
multi-turn limit setting is 65535 (factory setting). In all other settings, the
multi-turn data varies within a range of 0 ~ (value set in Pn205).
When a servomotor rotates in a negative direction from 0, the multi-turn data
varies in the Pn205 setting. When a servomotor rotates in a positive direction
from the Pn205 setting, the multi-turn data changes to 0. Set (m-1) into
Pn205. Recycle the power after modifying user parameters Pn002.2 and
Pn205.
The multi-turn limit value in the encoder is set at delivery to 65535, as in the
servo amplifier. The following alarm is generated if the servo amplifier
power is cycled after modifying the servo amplifier multi-turn limit value in
Pn205.
Alarm Name: Multi-turn Limit Non-coincidence
On = low signal; Off = high signal
Pn002.2 Absolute Encoder Usage Method Factory Setting
0 Speed Control/Torque
Control/Position Control
Pn002.2 Setting Content
0 The absolute encoder is used as an absolute encoder.
1 The absolute encoder is used as an incremental encoder.
Pn205 Multi-turn Limit Setting Unit
rev Setting Range
0 ~ 65535 Factory Setting
65535 Speed Control/
Torque Control/
Position Control
Alarm Display Alarm Code Output Alarm Content
— ALO1 ALO2 ALO3 —
A.CC On Off On The multi-turn limit values in the encoder
and servo amplifier do not match.