Delta ASDA-A3 Series, Руководство пользователя

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ASDA-A3 Absolute System
10-15
10
10.3.3 PUU number
The PUU number is a 32-bit absolute value with a positive or negative sign. 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. If the PUU number exceeds the
range -2147483648 to 2147483647, the position counter overflows and AL289 occurs. Establish
the absolute origin coordinates to clear these alarms (AL062 or AL289). You can determine
whether or not to show AL062 and AL289 when the position overflows with P2.070. When reaching
the maximum PUU number in the forward direction, the value changes from 2147483647 to
-
2147483648, -2147483647, until 2147483647. 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.
2147483647 ÷ 100000
≒
21474.8, so once the motor runs over 21,474.8 (< 32767) 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.
2147483647 ÷ 10000
≒
214748.3, so once the motor runs over 32,767 (< 214748.3) cycles in
the forward direction, AL062 occurs.
Forward
direction
2147483647
PUU
0
-2147483648
Reverse
direction
-2147483648 to 2147483647 -2147483648
2147483647
Overflow cycle value
Origin
AL289 AL289
Overflow
warning
...... ......
...... ......
Figure 10.3.3.1 Absolute position for PUU number
Note: after establishing the absolute origin coordinates, any change to P1.001.Z or E-Gear ratio (P1.044
and P1.045) changes the original setting of the absolute origin coordinates. If the above parameters
are changed, re-establish the absolute origin coordinates.