P2.070 Setting; System Initialization And Operating Procedures - Delta ASDA-A3 Series User Manual

ASDA-A3

10.3 System initialization and operating procedures

10.3.1 System initialization
After the servo system resumes operation, the host controller can acquire the motor's current
absolute position either with communication (such as RS-485) or DI/DO. Delta's absolute system
provides two types of position value for the host controller: pulse and PUU.
AL060 occurs when you initialize the absolute system for the first time because the coordinate
system has not been created. Clear the alarm by setting up the coordinate system. Insufficient
battery power or the failure of the main power supply also causes loss of the coordinate system
and the re-occurrence of AL060. In the absolute system, when the number of motor rotations
exceeds the range -32768 to 32767, AL062 occurs. When the PUU position value goes outside
the range -2147483648 to 2147483647, AL289 occurs.
Except for the alarms mentioned above, you can use P2.070 to set up Delta's absolute servo
system. You can choose not to show AL062 and AL289 if the absolute coordinate system
overflows when the number of rotations exceeds the range -32768 to 32767 or when the PUU
exceeds the range -2147483648 to 2147483647. For example, you might do this on a system
that uses incremental commands to operate in a single direction.

P2.070 setting:

1. Initialize the absolute coordinates. When the coordinate setting is complete, AL06A (or AL060)
is automatically cleared. There are two ways for you to initialize the host controller coordinates:
DI (please refer to Section 10.3.4) or setting parameters (please refer to Section 10.3.5).
2. When the system is powered on again, you can access the host controller's absolute
position either with DI/DO (please refer to Section 10.3.6) or with direct communication
(please refer to Section 9.2.6). Based on the setting of P2.070, the host controller can select
the requested value, either the PUU (please refer to Section 10.3.3) or the pulse value of
16777216, within a single turn (please refer to Section 10.3.2).
Revision December, 2017
Absolute System
10
10-13