Establishing The Absolute Origin Coordinates With Parameters; Establishing The Absolute Origin Coordinates With The Pr Homing Function; Read The Absolute Position; Reading The Absolute Position With Di/Do - Delta ASDA-B3 Series User Manual

ASDA-B3

10.3.4.2 Establishing the absolute origin coordinates with parameters

Set P2.071 to 1 to establish the absolute origin coordinates through the panel or with
communication. Since the write-protect function of P2.071 is protected by P2.008, you must set
P2.008 to 271 first. In other words, the sequence is: set P2.008 to 271, then set P2.071 to 1.
As soon as P2.071 is set to 1, the absolute coordinate system resets.

10.3.4.3 Establishing the absolute origin coordinates with the PR homing function

You can use the 11 homing modes in the PR mode to establish the absolute origin coordinates.
For more details, refer to Section 7.1.3.1 Homing methods.

10.3.5 Read the absolute position

10.3.5.1 Reading the absolute position with DI/DO

Set P2.070 Bit 0 to 0 so that you can read the PUU number with DI/DO. See the following
descriptions.
Bit 79 - Bit 64
Check Sum
Set P2.070 Bit 0 to 1 so that you can read the pulse number with DI/DO. See the following
descriptions.
Bit 79 - Bit 64
Check Sum
Description:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR WORD_2)+0x30A5)
XOR WORD_3)+0x5A06)
WORD_0
0xA700
Note:
1. This algorithm has no positive or negative sign.
2. 0xA700, 0x605A, 0x30A5, and 0x5A06 are constants in hexadecimal format.
3. WORD_0: encoder status (Bit 15 - 0)
WORD_1: encoder turn (Bit 31 - 16)
WORD_2: encoder pulse number (Bit 47 - 32)
WORD_3: encoder pulse number (Bit 63 - 48)
Bit 63 - Bit 32
Encoder PUU
-2147483648 to 2147483647
Bit 63 - Bit 32
Pulse number in one rotation
0 to 16777215 (= 16777216 - 1)
WORD_1
+ XOR +
0x605A
Bit 31 - Bit 16
0
Bit 31 - Bit 16
Encoder turn
-32768 to +32767
WORD_3
WORD_2
XOR + XOR
0x30A5
Absolute System
Bit 15 - Bit 0
Encoder status
(P0.050)
Bit 15 - Bit 0
Encoder status
(P0.050)
+
Output
0x5A06
10-17
10