System Initialization And Operating Procedures; System Initialization - Delta ASDA-B3 Series User Manual

ASDA-B3

10.3 System initialization and operating procedures

10.3.1 System initialization

After the servo system resumes operation, the 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 controller: pulse and PUU.
AL06A occurs when you initialize the absolute system for the first time because the coordinate
system has not been established. Clear the alarm by setting up the coordinate system. When
insufficient battery power or interruption of battery power causes loss of the coordinate system,
AL060 occurs. 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. Establish the absolute origin coordinates. When the coordinate setting is complete, AL06A
(or AL060) is automatically cleared. There are two representations to establish the
controllers absolute or igin coordinates: pulse number and PUU number. You can establish
the absolute origin coordinates with DI/DO, parameters, or the PR homing function.
2. When the system is powered on again, the controller can access the motor's absolute
position either with DI/DO or the communication function. Based on the setting of P2.070,
the controller can select the requested value, either the PUU (refer to Section 10.3.3) or the
pulse value of 16777216, within a single turn (refer to Section 10.3.2).
Absolute System
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