Operation
(4) Transferring Alarm Contents
If an absolute encoder is used, the contents of alarms detected by the SERVOPACK are transmitted in serial data to the host controller from the PAO output when the Turn Encoder Power Supply OFF command (SENS_OFF) is received.
Note: The SENS_OFF command cannot be received while the servomotor power is ON.
Output example of alarm contents are as shown below.
Encoder power supply OFF Error detection
Encoder power supply ON
Incremental pulse Serial Data
Enlarged view Turn Encoder
Power Supply OFF
(SENS_OFF)
Panel Display
PAO Output Serial Data Format
Upper 2 digits
A L M 5 1 . CR
" " " " " " " " " " " " " "
or
Overspeed
4 Operation
4.7.6 Multiturn Limit Setting
4.7.6 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 (rotational serial data limit) 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 serial data at 0, the rotational serial data will change to the setting in Pn205.
2. When the motor rotates in the forward direction with the rotational serial data at the Pn205 setting, the rota-tional serial data will change to 0.
Set Pn205 to the following value: Desired rotation serial data -1.
When the set value in Pn205 is changed, a multiturn limit disagreement alarm (A.CC0) will be displayed because the multiturn limit value in the encoder will be different. For the procedure to change the multiturn
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
0 1 2 3 4 5 6 7 8 9
Motor rotations 100 200 300 0
100 50 Rotational
serial data
Turntable rotations
Set value of Pn205 = 99 Turntable
rotations
Rotational serial data
Speed Position Torque
4.7 Absolute Encoders
4
Operation
limit value in the encoder, refer to 4.7.7 Multiturn Limit Disagreement Alarm (A.CC0).
<NOTE>
The standard specifications of the direct drive motor include a single-turn absolute encoder. Therefore, the encoder’s rotational serial data is always 0.
The absolute value of the load side can be created with the motor shaft angle only even when constructing an absolute position detecting system because the servomotor and the load can be directly connected.
4.7.7 Multiturn Limit Disagreement Alarm (A.CC0)
When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm (A.CC0) will be displayed because the value differs from that of the encoder.
If this alarm is displayed, perform the operation described below and change the multiturn limit value in the encoder to the value set in Pn205.
<NOTE>
This setting can also be performed with the adjustment command (ADJ). For details on the ADJ (Adjustment) command, refer to the Σ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
Factory Setting (= 65535) Other Setting (≠65535)
+32767
-32768 Motor rotations Rotational 0 Pn205 setting value Forward Reverse
Rotational serial data
Alarm
Display Alarm Name Alarm Output Meaning
A.CC0 Multiturn Limit Disagreement OFF (H) Different multiturn limits have been set in the encoder and SERVOPACK.
Step Display after Operation Keys Operation
1 Press the Key to select the utility function. And
press the or Key to select the Fn013.
2
Press the Key to view the execution display of Fn013.
Note: If the display is not switched and “NO-OP” is displayed in the status display, the Write Pro-hibited Setting (Fn010 = 0001) is set. Check the setting and reset.
3
Press the Key to set the multiturn limit value.
When the setting is completed, the status display shows "DONE" for one second. The status display then returns to show "A.CC0" again.
Note: If the Key is pressed instead of the Key, the multiturn limit value will not be reset.
4 Press the Key to return to the display the
proce-dure 1.
-4 Operation
4.7.8 Absolute Encoder Origin Offset
4.7.8 Absolute Encoder Origin Offset
If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system (APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA-TROLINK communications, this parameter will be enabled.
<Example>
If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.
Pn808
Absolute Encoder Origin Offset Classification
Setting Range Setting Unit Factory Setting When Enabled -1073741823 to
1073741823 1 reference unit 0 Immediately Setup
Position
Encoder position: Origin
Origin
Machine coordinate system position (APOS) Encoder position
Encoder position Pn808
4.8 Other Output Signals
4
Operation
4.8 Other Output Signals
This section explains other output signals.
Use these signals according to the application needs, e.g., for machine protection.
4.8.1 Servo Alarm Output Signal (ALM)
This section describes signals that are output when the SERVOPACK detects errors and resetting methods.
(1) Servo Alarm Output Signal (ALM)
This signal is output when the SERVOPACK detects an error.