Delta ASD-A2-0121 Series User Manual

Also see for ASDA-A2 Series: User manual Instruction sheet User manual Application notes User manual

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Delta ASD-A2-0121 Series User Manual Manual pdf 727 page image

ASDA-A2 Chapter 12 Absolute System12-1612.3 System Initialization Procedure and Operation12.3.1 System Initialization ProcedureWhen the servo system is power on, the host controller can get the motor coordinate position viacommunication with RS-485 or DI/O. There are two data in different units can be read, and theyare in PULSE and PUU.At the very first time to operate absolute system, there will be a fault code, AL060 shown whenpower on because the initialization procedure still not yet be done. The fault will be kept until theinitialization procedure is finished. Besides, the AL060 will be displayed when the power from theservo 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 number of motor rotations is exceeding the range-32768 to 32767. But from the view of PUU, the coordinate value must fall into the range-2147483648 to 2147483647 to avoid triggering the fault AL289.Except for the alarms mentioned above, you can use P2-70 to set up Delta’s absolute servosystem. You can choose not to show AL062 and AL289 if overflow occurs in the absolutecoordinate system when the number of rotations exceeds the range -2147483648 to 2147483647.This is for the applications that the motor rotates in a single direction with incremental commands.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 PRmode.Other modes: Two methods can be used to initialize the coordinated system. One is via digitalinputs described in section 12.3.4, and the other is applying parameters in section12.3.5.2. For an initialized system when the power is turned on, the host controller can read the absolutecoordinate data via digital inputs and digital outputs (see section 12.3.6) or parameters withcommunication (see section 12.2.6). Through the settings of parameter P2-70, you can have thehost controller to read the value in either PUU (see section 12.3.3) or the pulse number withinone turn 1280000 (see section 12.3.2).