Delta ASD-B2-0121-F, User Manual

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ASDA-B2-F Absolute System
September, 2015
10-21
10
10.5.4 To Initialize the Absolute Coordinate via Parameters
Users can set P2-71 to 1 to initialize the coordinates via panel or communication. As long as
P2-71 is set to 1, the absolute system will be reset. Since the write-in function of P2-71 is
protected by P2-08, users have to set P2-08 to 271 first. Please note that this method can be
applied to others modes except DMCNET. For DMCNET mode, please do homing to reset the
coordinate.
10.5.5 Use Communication to Access Absolute Position
Through the setting of P0-49 via communication, the servo drive can update the encoder status
and the motor’s absolute position to P0-50, P0-51 and P0-52. Through bit 1 setting of P2-70,
users can determine the accessing data type, pulse or PUU.
As the motor stands still, it still slightly moves forward and backward. When P0-49 is set to 1, it
will read the exact position where the motor stops without changing anything. On the other hand,
when P0-49 is set to 2, the motor’s current position will be updated to the servo drive (which
means to clear the position error). For example, if the motor’s current position is at 20000, but it
stays around 19999 and 20001. If issuing the command to read the motor’s position when motor
stops at 20001, then the motor’s position will be updated to 20001.
After all position is updated to P0-50 ~ P0-52, P0-49 will be reset to 0 automatically. Then, the
controller can access the value of P0-50 ~ P0-52. P0-50 shows the status of absolute type of
encoder. When it shows absolute position lost or overflows, the accessed absolute position is
invalid. Users have to do homing and initialize the coordinate.
Start
Set
P0-49 = 1 or
P0-49 = 2
P0-49 = 0
Read
P0-50 ~ P0-52
complete
No
Yes