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 position
system has not been established. Clear the alarm by setting up the position system. When
insufficient battery power or interruption of battery power causes loss of the position system,
AL060 occurs. In the absolute system, the position data is within a specific range. When the
number of motor revolutions exceeds the range of -32,768 to +32,767, AL062 occurs. When the
PUU position value exceeds the range of -2,147,483,648 to +2,147,483,647, AL289 occurs.
In addition to the preceding alarms (enabled by default), you can use P2.070 [Bit 2] to set
whether to show AL062 and AL289 if the absolute position system overflows (the number of
revolutions exceeds the range of -32,768 to +32,767 the range or the PUU number exceeds the
range of -2,147,483,648 to +2,147,483,647). This function is for systems which use incremental
commands to operate in a single direction.
P2.070 setting:
1. Establish the absolute origin position. When the position setting is complete, AL06A (or
AL060) is automatically cleared. There are two representations for the controller to establish
the absolute origin position: pulse number and PUU number. You can establish the absolute
origin position 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 communication. Based on the setting of P2.070, the controller
can read the position value in PUU (refer to Section 10.3.3) or the number of revolutions
plus the pulse number within a single revolution (refer to Section 10.3.2).
Absolute System
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