Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Absolute System
Revision December, 2017
10-15
10
10.3.3 PUU number
The PUU number is a 32-bit absolute value with positive and negative signs. When the motor is
running in the forward direction, the PUU number increases; when it is running in the reverse
direction, the PUU number decreases. The forward direction does not mean the motor is running
clockwise; the direction is defined by P1.001.Z. The maximum range of the cycle number is
-32768 to +32767. AL062 occurs when the number of cycles overflows the range. If the PUU
number exceeds the range -2147483648 to 2147483647, the position counter overflows and
AL289 occurs. Re-initialize the system to clear these alarms (AL062 or AL289). You can
determine whether or not to show AL062 and AL289 when the position overflows through P2.070.
When reaching the maximum PUU number in the forward direction, the value changes from
2147483647 to -2147483648, -2147483647, 2147483647, and so on. The value changes the
other way when the motor operates in the reverse direction. See the following examples:
Example 1:
When P1.044 = 16777216 and P1.045 = 100000, the motor needs 100,000 PUU to run a cycle.
2,147,483,647 ÷ 100,000
≒
21,474.8, so once the motor runs over 21,474.8 (< 32,767) cycles
in the forward direction, AL289 occurs.
Example 2:
When P1.044 = 16777216 and P1.045 = 10000, the motor needs 10,000 PUU to run a cycle.
2,147,483,647 ÷ 10,000
≒
214,748.3, so once the motor runs over 32,767 (< 214,748.3) cycles
in the forward direction, AL062 occurs.
Forward
direction
2147483647
PUU
0
-2147483648
Reverse
direction
-2147483648 ~ 2147483647 -2147483648 2147483647
Overflow cycle value
Origin
AL289 AL289
Overflow
warning
...... ......
...... ......
Figure 10.3.3.1 Absolute position for PUU number
Note: after initializing the absolute coordinate system, any change to P1.001.Z or E-Gear ratio (P1.044 and
P1.045) changes the original setting of the absolute coordinate system. If the above parameters are
changed, please re-initialize the coordinate system.