Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 259)

6.2 Motion Command Details
6.2.27 Multiturn Limit Setting (MLTTRN_SET)
6-98
( 2 ) Compatible SERVOPACK Models
The SERVOPACK models that allow multiturn limit setting are shown in the table below.
If an attempt is made to execute multiturn limit setting with any SERVOPACK model other than those above, the com-
mand is completed in an error status (IW
09, bit 3 “FAIL” = ON).
( 3 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2. Set OW 08 to 39 to execute the MLTTRN_SET command.
The SERVOPACK alarm “A.CC0 Multiturn Limit Mismatch” will be cleared, and the multiturn limit of the abso-
lute encoder will be set to the value set for SERVOPACK parameter Pn205.
IW
08 “Motion Command Response Code” will be 39 and IW 09, bit 0 “BUSY” will turn ON during
command processing.
IW
09, bit 0 “BUSY”, IW 09, bit 3 “FAIL”, and IW 00, bit 0 “Motion Controller Operation Ready”
will turn OFF, and IW 09, bit 8 “COMPLETE” will turn ON, when command processing has been com-
pleted.
3.
Set OW 08 to 0 to execute the NOP command to complete multiturn limit setting.
4.
When using an SGDH or SGDV SERVOPACK, turn OFF the power to the SERVOPACK and then turn
it back ON.
5.
Execute Alarm Clear (OW 00, bit F) and re-establish communications.
When multiturn limit setting has been completed, communication will be disconnected between the Machine
Controller and the SERVOPACK. The zero point setting completed and zero point return completed status will
thus be cleared.
6. Execute zero point setting or zero point return.
For details, refer to 6.2.8 Set Zero Point (ZSET) or 6.2.3 Zero Point Return (ZRET).
( 4 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
Processing will be canceled if a communication error occurs while the command is being executed and the command is
completed in an error status (IW
09, bit 3 = ON) will occur.
SERVOPACK Model Details
SGDH- E
JUSP-NS100
SGDH SERVOPACKs
NS100 MECHATROLINK-I Interface Module
SGDH- E
JUSP-NS115
SGDH SERVOPACKs
NS115 MECHATROLINK-II Interface Module
SGDS- 1 SGDS SERVOPACKs
SGDX- 1 SGDX SERVOPACKs
SGDV- 1 SGDV SERVOPACKs
JUSP-I MR
MECHATROLINK-II-compatible SERVOPACKs
IDM (rotational motor)
No. Execution Conditions Confirmation Method
1
Communication with the SERVOPACK must be
synchronized.
IW 00, bit 0 is ON.
2 The Servo OFF condition. IW 00, bit 1 is OFF.
3 Motion command execution has been completed. IW 08 is 0, and IW 09, bit 0 is OFF.