Delta ASD-A3-0121, Руководство пользователя

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Absolute System ASDA-A3
10-16
Revision December, 2017
10
10.3.4 Initializing the absolute coordinates with DI/DO
When the servo system is controlled by the host controller, you can reset the absolute coordinate
system with DI/DO. To initialize the coordinate system, set DI.ABSE to on and switch DI.ABSC
from off to on. At that point, the pulse number is set to 0 and the PUU number is the value of
P6.001. Please refer to the following diagram for detailed descriptions.
Note: (1), (2), and (3) represent the required delay time between triggering DI.ABSE and
DI.ABSC to enable the function.
Absolute
Position Counter
(Pulse = 0; PUU = P6.001)
Off
On
Off
On
DI.ABSE
DI.ABSC
T
S
T
Q
(1)
(2)
(3)
Figure 10.3.4.1 Timing diagram for initializing the absolute coordinate system with DI/DO
The following table describes the T
S
and T
Q
delay time after triggering DI.ABSE and DI. ABSC.
T
S(ms)
T
Q(ms)
Min (
T
S
,
T
Q
)
Value of P2.009 + 2
Max P2.009 + 10
Description:
1. When DI.ABSE turns on, it has to wait for T
S
ms before proceeding to the next step.
2. After reaching T
S
, the host controller starts to reset the coordinate system. When DI.ABSC
turns on and remains on for T
Q
ms, the pulse number is set to zero and the PUU number is
set to the value of P6.001.
10.3.5 Initializing the absolute coordinates with parameters
Set P2.071 to 1 to initialize the coordinates through the panel or with communication. As soon as
P2.071 is set to 1, the absolute coordinate system resets. Since the write-protect function of
P2.071 is protected by P2.008, you must set P2.008 to 271 first. In other words, the sequence is:
set P2.008 to 271, then set P2.071 to 1.