System Initialization And Operation Procedures; System Initialization - Delta ASDA-B2-F Series User Manual

Absolute System

10.5 System Initialization and Operation Procedures

10.5.1 System Initialization

After the servo system resumes operation, the host controller can acquire motor's current
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absolute position via communication, such as RS-232. Delta's absolute system provides two
kinds of position value for the host controller, pulse and PUU.
AL060 will occur when the absolute system is enabled for the first time. This is because the
coordinate system has not been created. The alarm will be cleared until the setting of coordinate
system is complete. Not enough battery power or the failure of power supply will lead to
coordinate system loss and the occurrence of AL060. When the motor's rotating number
exceeds the range from -32768 to 32767, AL062 will occur. In terms of PUU, the position value
should be between -2147483648 and 2147483647, or AL289 will occur.
Apart from the alarms that mentioned above, P2-70 can be used to setup Delta's absolute servo
system. AL062 and AL289 can be set not to show when the absolute coordinate system
overflows (the cycle number exceeds the range between -32768 and 32767 or PUU exceeds the
range from -2147483648 to 2147483647). This is for the system that uses incremental command
to operate in single direction.
Parameters setting:
1. Initialize the absolute coordinates. When the setting of coordinate is complete, AL060 will be
cleared automatically. Operation mode: Please refer to section 10.5.4 for initializing the
absolute coordinates via parameters.
2. When the system is re-power on, users can access absolute position for the host controller
via communication (Please refer to section 10.5.5). Through the setting of P2-70, the host
controller can select the accessing value, value of PUU (please refer to section 10.5.3) or the
pulse value of 1280000 within one cycle (please refer to 10.5.2).
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ASDA-B2-F
September, 2015