Puu Number - Delta ASDA-B3 Series User Manual

ASDA-B3

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 running in the forward direction, the PUU number increases; when the motor is running
in the reverse direction, the PUU number decreases. The motor operation direction is defined by
P1.001.Z; operation in the forward direction does not necessarily mean the motor is operating in
the clockwise direction.
If the motor keeps running in the same direction and the number of revolutions exceeds the
range of -32768 to +32767, the servo drive generates AL062. If the motor's PUU number
exceeds the range of -2147483648 to +2147483647, 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 running in the forward direction and the absolute position data reaches +2147483647
PUU, the value jumps to -2147483648 in the next turn, and the value keeps increasing from
-2147483648 to 2147483647. The value changes the other way when the motor is running in
the reverse direction. 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.
2,147,483,647
-2,147,483,648
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.
PUU
......
2,147,483,647
0 ......
Reverse
direction
Overflow
warning
AL289
Figure 10.3.3.1 Absolute position for PUU number
Overflow cycle value
-2,147,483,648 ~ 2,147,483,647
Origin
Absolute System
......
-2,147,483,648
......
Forward
direction
AL289
10
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