Delta ASD-B2-0121-F, User Manual

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ASDA-B2-F Absolute System
September, 2015
10-19
10
10.5.2 Pulse Number
When the motor is running in clockwise direction, the cycle number is defined as a negative
value; when it is in counter clockwise operation, it is defined as a positive value. Range of the
maximum counting number is from -32768 to +32767. AL062 will occur when the cycle number
exceeds the range (overflows). For conquering the problem, users have to re-initialize the
coordinates to clear AL062. If P2-70 has been set not to show any alarm when overflows, then
the system will ignore the problem when the cycle number exceeds the range. If the system is
operating in counter clockwise direction, when the cycle number reaches 32767 and moves to
the target position, the value will turn to -32768. If it keeps rotating, the sequence of the cycle
number will be -32768, -32767, -32766 and so on and vice versa when rotating in clockwise
direction.
In addition, there are 1280000 pulses (0 ~ 1279999) in one rotation. Please pay attention to its
direction. The cycle number and pulse number can be read via communication.
Pulse number = m (cycle) × 1 pulse number (0 ~ 1279999)
Following shows the conversion between pulse number and PUU:
When the rotation direction is CCW defined by P1-01, then PUU number = pulse number ×
୔ଵିସହ
୔ଵିସସ
+ P6-01
When the rotation direction is CW defined by P1-01, then PUU number = (-1) × pulse number ×
୔ଵିସହ
୔ଵିସସ
+ P6-01
Original
point
Pulse
number
within one
turn
P0-52
(1280000-1)
Pulse
m = 0
Cycle number
P0-51
m = -1 m = -2 m = 1
0 ~ 1279999
CCW CW
0
0 ~ 1279999 0 ~ 1279999 0 ~ 1279999 0 ~ 1279999 0 ~ 1279999
Figure 10.5.2.1 Absolute position of pulse counting