Use Digital Inputs/Outputs To Create The Absolute Origin Coordinate; Use Parameters To Create The Absolute Origin Coordinate - Delta ASD-A2-0121 Series User Manual

Chapter 12 Absolute System

12.3.4 Use Digital Inputs/Outputs to Create the Absolute Origin Coordinate

When the servo drive is in PR mode, initialize the system with PR homing. Except for PR mode,
the digital inputs and outputs can be used for a driver to do homing when other modes are selected.
Move the motor to home place, enable digital input, ABSE, then enable digital input, ABSC from
OFF to ON, and the system will start to initialization. The pulse number will be set to zero and the
number in P6-01 is for PUU to reference. Please refer to Figure 12.3 below for the signal
controlling chart.
ABSE
ABSC
Absolute
Position Counter
(Pulse=0, PUU=P6-01)
Figure 12.3 The controlling chart for creating the absolute origin coordinates via digital inputs/outputs
The descriptions for the timing:
1. When the host controller switches ABSE from OFF to ON, the system needs to wait after a
period of time T before proceeding to the next steps to reset.
S
2. After waiting time T
signal for T to reset the coordinate system where pulse number will be zero and PUU number
Q
is defined in P6-01.

12.3.5 Use Parameters to Create the Absolute Origin Coordinate

When the parameter P2-71 is set to 1 (one) via the keypad or communication, the system starts to
create the absolute origin coordinate. Because P2-71 is write-protected by P2-08, you need to first
set 271 to P2-08 to write the value to P2-71. The procedure is P2-08=271 and then P2-71=1. This
mode is only for all modes except PR mode. If it is in PR mode, please execute homing procedure
to create the absolute origin coordinate.
ON
OFF
ON
OFF
Min.
Max.
, the host controller now can enable the ABSC from OFF to ON and hold the
S
1
T
2
S
T T
S(ms) Q(ms)
P2-09+2
P2-09+250
3
T
Q
ASDA-A2
12-19