System Initialization Procedure And Operation; System Initialization Procedure - Delta ASD-A2-0121 Series User Manual

ASDA-A2
12.3

System Initialization Procedure and Operation

12.3.1 System Initialization Procedure

When the servo system is power on, the host controller can get the motor coordinate position via
communication with RS-485 or DI/O. There are two data in different units can be read, and they
are in PULSE and PUU.
At the very first time to operate absolute system, there will be a fault code, AL060 shown when
power on because the initialization procedure still not yet be done. The fault will be kept until the
initialization procedure is finished. Besides, the AL060 will be displayed when the power from the
servo and battery is discontinued that will lead to the coordinate system lost. There is a fault code,
AL062 which is used to indicate when the number of motor rotations is exceeding the range
-32768 to 32767. But from the view of PUU, the coordinate value must fall into the range
-2147483648 to 2147483647 to avoid triggering the fault AL289.
Except for the alarms mentioned above, you can use P2-70 to set up Delta's absolute servo
system. You can choose not to show AL062 and AL289 if overflow occurs in the absolute
coordinate system when the number of rotations exceeds the range -2147483648 to 2147483647.
This is for the applications that the motor rotates in a single direction with incremental commands.
Parameter Settings:
1. The AL060 will be cleared when the coordinate system has been initialized.
PR mode: The absolute coordinate system will be reset after any homing operation under PR
mode.
Other modes: Two methods can be used to initialize the coordinated system. One is via digital
inputs described in section 12.3.4, and the other is applying parameters in section
12.3.5.
2.
For an initialized system when the power is turned on, the host controller can read the absolute
coordinate data via digital inputs and digital outputs (see section 12.3.6) or parameters with
communication (see section 12.2.6). Through the settings of parameter P2-70, you can have the
host controller to read the value in either PUU (see section 12.3.3) or the pulse number within
one turn 1280000 (see section 12.3.2).
12-16
Chapter 12 Absolute System