System Initialization Procedure And Operation; System Initialization Procedure - Delta ASDA-A2 Series User Manual

A2
ASDA-
12.3

System Initialization Procedure and Operation

12.3.1 System Initialization Procedure

When the servo system is power on, the host controller can get the motor coordinate
position via communication with RS-485 or DI/O. There are two data in different units can
be read, and they are in PULSE and PUU.
At the very first time to operate absolute system, there will be a fault code, AL060 shown
when power on because the initialization procedure still not yet be done. The fault will be
kept until the initialization procedure is finished. Besides, the AL060 will be displayed
when the power from the servo and battery is discontinued that will lead to the
coordinate system lost. There is a fault code, AL062 which is used to indicate when the
motor position is exceeding the design range where -32768~32767 for motor turns. But
from the view of PUU, the coordinate value must fall into the range -2147483648 ~
2147483647 to avoid triggering the fault AL289.
For some applications which will rotate motor in one direction, the fault AL062 for
checking turns number within -32763~32768 and the fault AL289 for detecting PUU
within -2147483648~2147483647 can be turned off by parameter P2-70.
Parameter Settings:
1. The AL060 will be cleared when the coordinate system has been initialized.
PR mode: The absolute coordinate system will be reset after any homing operation
under PR mode.
Other modes: Two methods can be used to initialize the coordinated system. One is
via digital inputs described in section 12.3.4, and another one is applying
parameters in section 12.3.5.
2. For an initialized system when every time the power is turned on, the host
controller can read the absolute coordinate data via digital inputs and digital
outputs (see section 12.3.6) or parameters with communication (see section
12.2.6). Through the settings of parameter P2-70, the host controller can read the
coordinated data in PUU (see section 12.3.3) or in number of turn plus the number
of pulse within one turn (see section 12.3.2).
12-14
Chapter 12 Absolute System
Revision September 2012