Initializing The Absolute Coordinates With Di/Do; Timing Diagram For Initializing Absolute Coordinate System With Di/Do - Delta ASDA-A3 Series User Manual

Absolute System

10.3.4 Initializing the absolute coordinates with DI/DO

When the servo system is controlled by the host controller, you can reset the absolute coordinate
system with DI/DO. To initialize the coordinate system, set DI.ABSE to on and switch DI.ABSC
10
from off to on. At that point, the pulse number is set to 0 and the PUU number is the value of
P6.001. Please refer to the following diagram for detailed descriptions.
Note: (1), (2), and (3) represent the required delay time between triggering DI.ABSE and
DI.ABSC to enable the function.
(Pulse = 0; PUU = P6.001)
Figure 10.3.4.1 Timing diagram for initializing the absolute coordinate system with DI/DO
The following table describes the T
Description:
1. When DI.ABSE turns on, it has to wait for T
2. After reaching T
turns on and remains on for T
set to the value of P6.001.
10.3.5 Initializing the absolute coordinates with parameters
Set P2.071 to 1 to initialize the coordinates through the panel or with communication. As soon as
P2.071 is set to 1, the absolute coordinate system resets. Since the write-protect function of
P2.071 is protected by P2.008, you must set P2.008 to 271 first. In other words, the sequence is:
set P2.008 to 271, then set P2.071 to 1.
10-16
On
DI.ABSE
Off
On
DI.ABSC
Off
Absolute
Position Counter
S
,
T T
Min ( )
S Q
Max
, the host controller starts to reset the coordinate system. When DI.ABSC
S
ms, the pulse number is set to zero and the PUU number is
Q
(1)
T
S
and T delay time after triggering DI.ABSE and DI. ABSC.
Q
T
S(ms)
Value of P2.009 + 2
P2.009 + 10
ms before proceeding to the next step.
S
(2)
(3)
T
Q
T
Q(ms)
Revision December, 2017
ASDA-A3