Puu Number - Delta ASDA-A3 Series User Manual

Absolute System

10.3.3 PUU number

The PUU number is a 32-bit absolute position data with a positive or negative sign. When the
motor is operating in the positive direction, the PUU number increases; when the motor is
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operating in the negative direction, the PUU number decreases. The motor operation direction is
defined by P1.001.Z; operation in the positive direction does not necessarily mean the motor is
operating in the clockwise direction.
If the motor keeps operating in the same direction and the number of revolutions exceeds the
range of -32,768 to +32,767, the servo drive generates AL062. If the motor's PUU number
exceeds the range of -2,147,483,648 to +2,147,483,647, the servo drive generates AL289
(Position counter overflows). When an overflow issue of the absolute encoder (AL062 or AL289)
occurs, re-establish the absolute origin position to clear the alarm. You can also set P2.070 to
determine whether the servo drive generates the alarms AL062 and AL289 when an overflow
occurs. If the motor is operating in the positive direction and the absolute position data reaches
+2,147,483,647 PUU, the value jumps to -2,147,483,648 in the next turn, and the value keeps
increasing from -2,147,483,648 to +2,147,483,647. If the motor is operating in the negative
direction and the absolute position data reaches -2,147,483,648 PUU, the value jumps to
+2,147,483,647 in the next turn, and the value keeps decreasing from +2,147,483,647 to
-2,147,483,648. See the following examples:
Example 1:
When P1.044 = 16777216 and P1.045 = 100000, the motor needs 100,000 PUU to run one
revolution. 2147483647 ÷ 100000 ≒ 21474.8, so once the motor runs over 21,474.8 (< 32767)
revolutions in the positive direction, AL289 occurs.
Example 2:
When P1.044 = 16777216 and P1.045 = 10000, the motor needs 10,000 PUU to run one
revolution. 2147483647 ÷ 10000 ≒ 214748.3, so once the motor runs over 32,767 (< 214748.3)
revolutions in the positive direction, AL062 occurs.
Note: after the absolute origin position is established, any change to P1.001.Z or E-Gear ratio (P1.044 and
P1.045) changes the original setting of the absolute origin position. If these parameters are
changed, re-establish the absolute origin position.
10-20
PUU
......
2,147,483,647
2,147,483,647
0 ......
-2,147,483,648
Negative
direction
Overflow
warning
AL289
Figure 10.3.3.1 Absolute position for PUU number
Overflow cycle value
-2,147,483,648 to +2,147,483,647 -2,147,483,648
Positive
direction
Origin
ASDA-A3
......
......
AL289