Delta AX-3 Series, Operation Manual

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C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n
7 - 1 0 7
7_
Item Description
(1) Command Pulse per motor rotation
Amount of pulses that the encoder counts per revolution of
the motor
(4) Diameter
(Movement distance motor rotation
：
Diameter *n)
Distance of movement per revolution of the motor.
(Movement distance per rotation
：
Diameter *n)
(2) Gear ratio numerator The numerator of gear ratio
(3) Gear ratio denominator The denominator of gear ratio

SSI Encoder mapping variable setting

The actual position and ErrorID can be read by SSI Encoder via the following parameters.
Parameter Description
EncoderPosition Actual position of SSI Encoder
ErrorID
Status of SSI Encoder Communication.
0 : No Error
1 : Error Communication
2 : Wrong Parameter Setting
*Note:
ErrorID:
1. When SSI encoder is not connected or SSI encoder and CPU is disconnected, then ErrorID=1.
2. When Mult SingleTurns is bigger than 32, then ErrorID=2.
The error situations mentioned above allows BusCycle to stop updating EncoderPosition and the EncoderPosition
will keep the last value, the purpose is to avoid jump from other slave axis when main axis encoder is in
synchronized motion.
ErrorID Clear:
1. When SSI encoder is not connected or SSI encoder and CPU is disconnected, then Status Data=1, the
BusCycle stops to update and the EncoderPosition keeps the last value, the purpose is to avoid jump from
other slave axis when main axis encoder is in synchronized motion.
Ans: Check the connection between SSI encoder and CPU. The modified firmware will make sure the
communication channel is properly connected to restore EncoderPosition updates of BusCycle. There are many
reasons for cause of errors, for example: SSI encoder not properly connected, broken SSI encoder and abnormal
drive board.
2. When Mult SingleTurns is bigger than 32, then Status Data =2:
Ans: When the parameter setting value of Mult SingleTurns does not exceed 32, then download again.