Establish The Absolute Origin Coordinates; Establishing The Absolute Origin Coordinates With Di/Do - Delta ASDA-B3 Series User Manual

Absolute System

10.3.4 Establish the absolute origin coordinates

When the absolute coordinates are lost, the ASDA-B3 servo drive provides three ways to
establish the absolute origin coordinates: DI/DO, parameter setting, or the PR homing function.
10
The following provides more details for each operation mode.

10.3.4.1 Establishing the absolute origin coordinates with DI/DO

When the servo system is controlled by the controller, you can reset the absolute coordinate
system with DI/DO. Once established, the pulse number is set to 0 and the PUU number is the
value of P6.001. Refer to the following diagram for detailed descriptions.
Description:
1. When the controller triggers DI.ABSE (rising-edge triggered), it needs to wait for T
proceeding to the next step.
2. After reaching T
on and remains on for T
value of P6.001.
(Pulse = 0; PUU = P6.001)
The following table describes the T
10-16
, the controller starts to reset the coordinate system. When DI.ABSC turns
S
the pulse number is set to zero and the PUU number is set to the
Q
On
DI.ABSE
Off
On
DI.ABSC
Off
Absolute
position counter
Figure 10.3.4.1.1 Timing diagram for establishing the absolute coordinates with DI/DO
Min (T , T )
S Q
Max
T
S
and T delay time after triggering DI.ABSE and DI.ABSC.
S Q
T
S(ms)
P2.009 + 2
P2.009 + 10
before
S
T
Q
T
Q(ms)
ASDA-B3