Delta ASD-A3-0121, User Manual

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Absolute System ASDA-A3
10-14
Revision December, 2017
10
10.3.2 Pulse number
When the motor is running in the clockwise direction, the cycle number is expressed as a
negative value. When the motor runs in the counterclockwise direction, the cycle number is
expressed as a positive value. The range of the number of rotations is between -32768 and
+32767, and AL062 occurs once the number exceeds the range. To clear the alarm, you must
re-initialize the coordinate system. If P2.070 has been set to ignore the AL062 alarm, then the
system shows no error. If the system is operating in the counterclockwise direction and it reaches
32,767 turns, the value jumps to -32768 once it reaches the target position in the next cycle, and
the value keeps increasing to -32768, -32767, -32766, and so on. When the system is operating
in the clockwise direction, the value jumps to 32767 in the next cycle after reaching -32768.
In addition to the cycle counter, there are 16,777,216 pulses (0 – 16777215) in one rotation.
Please pay attention to the motor's running direction. You can read the cycle number and the
pulse number either with communication or DI/DO. Pulse number = m (cycle number) x
16 pulse number (0 – 16777215). The conversions between pulse number and PUU
are as follows:
When the rotation direction is defined as CCW in P1.001, then the PUU number = pulse number
×
𝐏𝐏𝟏𝟏 . 𝟎𝟎𝟎𝟎𝟎𝟎
𝐏𝐏𝟏𝟏 . 𝟎𝟎𝟎𝟎𝟎𝟎
+ P6.001.
When the rotation direction is defined as CW in P1.001, then the PUU number = (-1) × pulse
number ×
P1 . 045
P1 . 044
+ P6.001.
Origin
Pulse number
in one turn
P0.052
(16777216-1)
Pulse
m = 0
Cycle number
P0.051
m = -1 m = -2 m = 1
0 ~16777215
CCW CW
0 ~16777215 0 ~16777215 0 ~16777215 0 ~16777215 0 ~16777215
. . . . . .
0
Figure 10.3.2.1 Absolute position for PUU number