FAQ: Can the EtherCAT module report a modulo value?
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No.
Modulo logic must be performed by the controller.
(However, Modulo (formally, "Endless Positioning") is supported on 100/200V Sigma-7 EtherCAT FW version 8.06 or above.)
The multiturn limit setting parameter on the EtherCAT drive is only for the situation of powering on the drive and reporting where in the revolution the motor is.
Refer to the following documents for more details:
1. Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Option Command Reference
(Yaskawa.com document number SIEPS80000060)
2. Sigma-5 User Manual: EtherCAT (CoE) Network Module
(Yaskawa.com document number SIEPC72082904)
Example 1:
Multiturn limit setting (2205h) [Pn205] is set to 0.
At powerup, the "Position Actual Value" object 6064 will be reported as a number from 0 to (2^20) - 1 for a 20-bit encoder (assuming user units 2701 are set to default).
However, during operation, the value read from "Position Actual Value" object 6064 will have the DINT range of -2^31 to (2^31)-1.
Example 2:
Multiturn limit setting (2205h) [Pn205] is set to 9. >At powerup, the "Position Actual Value" object 6064 will be reported as a number from 0 to 10 x (2^20) - 1 for a 20-bit encoder (assuming user units 2701 are set to default). However, during operation, the value read from "Position Actual Value" object 6064 will have the DINT range of -2^31 to (2^31)-1.
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Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.
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