Chapter 12 Absolute System - Delta ASD-A2-0121 Series User Manual

Chapter 12 Absolute System

Introduction
Delta's absolute system includes an ASDA-A2 series servo drive, an ECMA series servo motor
with an absolute encoder, and a backup battery box for an absolute encoder. The backup battery
supplies power to the system so that the encoder continues to operate even when the power is off.
In addition, an absolute encoder in an ECMA series servo motor will constantly record the actual
positions by its built-in coordinate system at any time. So the real position of the servo motor will
be measured and recorded even if the motor shaft rotates after the power is turned off.
An ECMA series servo motor with an absolute encoder is essential and must be connected with an
ASDA-A2 series servo drive for a Delta's absolute system. When an ECMA series servo motor with
an incremental encoder is connected to an ASDA-A2 series servo drive, if the users enable the
servo parameters for absolute system, a fault code, AL069, will be shown on the drive's LCD
display to alert that an error occurs.
Note that when using an absolute motor, as soon as it applies to the power, the motor speed
should be lower than 250 rpm. When operating in battery mode, make sure the maximum speed
does not exceed 200 rpm. The model name of a servo motor with an absolute encoder is shown as
below:
ECMA-□A□□□□□□
A: Servo Motor with Absolute Encoder
Install the battery properly with the encoder cable. One servo drive uses one single battery box.
Two servo drives can share a dual battery box. We recommend the users to choose Delta's
backup battery boxes and Delta's encoder connection cables for Delta's absolute systems for
wiring and connection. Regarding the descriptions and specifications of battery boxes and
corresponding accessories, please refer to the contents in the following sections.
12-1