Puu Number - Delta ASDA-B2-F Series User Manual

Absolute System

10.5.3 PUU Number

A 32 bits number with sign is used to denote PUU number in an absolute system. The PUU
number is increasing when the motor runs in forward direction and decreasing for a reverse
10
direction. The motor's rotating direction is defined by the setting of P1-01.Z. In a word, the
feedback value of the encoder can be used to distinguish the rotating direction. The increasing
feedback value means the motor rotating in forward direction while the decreasing feedback
number represents reverse direction.
If the motor keeps rotating in one direction, AL062 will occur once its rotating number exceeds
the range between -32768 and +32767. And AL289 occurs when motor's PUU number exceeds
the range from -2147483648 to 2147438647. Once AL063 or AL289 occurs, users will have to
initialize the coordinates to clear the alarm. Parameter P2-70 can be used to determine the
overflowing range so as to avoid the occurrence of AL063 and AL289. When the motor rotates in
forward direction and exceeds the range of PUU, once the rotating number reaches 2147483647,
the value will turn to -2147483648. If it keeps rotating, the sequence of the cycle number will be
-2147483647, -2147483646 so on and vice versa when rotating in clockwise direction.
See the following examples for counting overflows.
Example 1:
When P1-44 = 128 and P1-45 = 10, then the motor needs 100000 PUU to run a cycle.
2147483647 ÷ 100000 ≒ 21474.8. Once the motor runs over 21474.8 (< 32767) cycles in
forward direction, AL289 will occur.
Example 2:
When P1-44 = 128 and P1-45 = 1, then the motor needs 10000 PUU to run a cycle. 2147483647
÷ 10000 ≒ 214748.3. Once the motor runs over 32767(<214748.3) cycles in forward direction,
AL062 will occur.
2147483647
-2147483648
Warning when
Note:
After initializing the absolute coordinates, changing the setting of parameter P1-01.Z or E-gear ratio
(P1-44, P1-45) will cause functional failure of the absolute coordinates and users have to initialize
the coordinates again.
10-20
PUU
......
2147483647
0
......
AL289
overflows
Figure 12-2 PUU counting in absolute coordinate system
The range of data
-2147483648 ~ 2147483647
CCW
Original
point
ASDA-B2-F
......
-2147483648
......
CW
AL289
September, 2015