Use Parameter To Read The Absolute Coordinate Data - Delta ASD-A2-0121 Series User Manual

Chapter 12 Absolute System
bit 0 to bit 79 (80 bits in total), the functions of DI4, DO2, and DO3 resume their original
functions after the communication is complete.
Note:
If ABSW does not go back to high level signal after the changing of ABSE for signal low to high that is a sign
of error occurring, there must be some other errors existing. Please check if the coordinate data still there,
the voltage level of battery, or overflowing on the coordinate value. A new communication cycle can be
started only all of these errors been removed.

12.3.7 Use Parameter to Read the Absolute Coordinate Data

The servo drive will update its encoder status to P0-50 and encoder position to P0-51 and P0-52
when the parameter P0-49 is set. The Bit 1 of P2-70 is used to select which type of the data will be
read, PULSE or PUU. While the servo motor is stalling, it is always maintaining its position with a
very tiny forward and backward movement. At the moment the encoder data read, the coordinate
data in servo drive side will be reset to the current position of motor if P0-49=2 where it is just read
without changing any from the servo motor when P0-49=1. For example, if the motor is positioning
at the place of 20000, it will move around position from 19999 to 20001 normally. The command
for reading the encoder data is put when the motor is at the place 20001, and the data 20001 will
be read and the coordinate data in servo drive will be revised to 20001. There will avoid the error
from the data at encoder side and the data at drive side. The P0-49 will be reset to 0 when all the
encoder data put in P0-50 to P0-52 is ready, and it means that the host controller can get the data
now. When the status already signals absolute coordinate data lost or overflow of number for turns
in P0-50, the values in P0-51 to P0-52 are not correct. A homing or system reset procedure is
necessary now.
Start
Write
P0-49 = 1 or P0-49 =2
P0-49 = 0
Yes
Read
P0-50 ~ P0-52
Stop
No
ASDA-A2
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