Delta ASDA-A3 Series, User Manual, Page: 637 / 845

Absolute System ASDA-A3
10-14
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, re-establish the absolute origin
coordinates. 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 reaches 32,767 turns, the value
jumps to -32768 once it reaches the target position in the next cycle, and the value keeps
increasing from -32768 to 32767. When the system is operating in the clockwise direction and
reaches -32,768 turns, the value jumps to 32767 once it reaches the target position in the next
cycle, and the value keeps decreasing from 32767 to -32768.
In addition to the cycle counter, there are 16,777,216 pulses (0 - 16777215) in one rotation.
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
×
P1.045
P1.044
+ 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 pulse number