A Brief Introduction to the Use of Single-Turn and Multi-Turn Absolute Encoders in Integrated Motors
I. Overview
According to the naming conventions for motors, single-turn and multi-turn motors can be distinguished. Motors with the letter "B" are single-turn motors, and those with the letter "D" are multi-turn motors.
Single-turn absolute encoders use a scaled angle to represent a specific position. Typically, it maps a fixed position to a continuous value range.
Multi-turn absolute encoders introduce additional information to represent multiple turns. It performs a multi-turn modulus operation on the input position and then uses the single-turn absolute encoder to represent the position within each turn.
II. Cables for Multi-turn Motors
For wiring, multi-turn motors require an external battery box, and the I/O lines need to be equipped with I/O cables that include a battery box. The multi-turn motor checks the battery voltage each time it is powered on and updates the parameter 200F-0Bh. When the integrated motor detects that the battery voltage has dropped below a specified value during operation, the integrated motor will issue a warning and fault message. Common alarms include the following:
| Battery voltage | Alarm information | Alarm recovery | Battery replacement method |
| 2.6V>DC>2.4V | 0x7302 | Multi-turn encoders may have counting errors; battery replacement is recommended. | 1. The integrated motor is powered on but not running. 2. Replace the battery in the battery compartment. 3. The alarm will automatically deactivate. |
| DC≤2.4V | 0x7301 | Please replace the battery immediately. | |
| DC>2.6V | 0x7309 | Power off restart | - |
III. Parameter Settings for Converting a Multi-Turn Motor to a Single-Turn Motor
Set H200D: 0A = 0 - Single Turn (1 for Multi-Turn)
After converting a multi-turn motor to single-turn, save the parameters. Powering on again will take effect. After powering on, the IO with the battery compartment can be disconnected; there will be no low battery alarm, and it can operate normally.
IV. Differences between Single-Turn Absolute Encoders and Multi-Turn Absolute Encoders
1. Turn Range:
Single-Turn Absolute: Suitable for situations where only information within a single turn range is needed.
Multi-Turn Absolute: Suitable for situations where position information needs to be represented within multiple turn ranges.
2. Position Differentiation:
Single-Turn Absolute: Cannot accurately distinguish multiple positions at the same angle; can only represent the position within a single turn range.
Multi-Turn Absolute: Can accurately distinguish multiple positions at the same angle, providing rich and detailed position representation.
3. Power-Off Memory Capability:
Single-Turn Absolute: Can only record and restore position information within a single turn range.
Multi-loop absolute value: can record and recover position information within a range of multiple loops.
