Lite-On Technology Corp.
Industrial Automation
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AL035 and AL038 function can closed by PD-57, when absolute system overflow(round number
exceed -32768 ~ 32767 or PUU exceed -2147483648 ~ 2147483647), warning will not be triggered. This
function is for the system using incremental command.
After coordinate initialization, AL033 will be clear automatically. ISA-7 supports two methods for
initialization.
Initialization by DI, refer to 11.3.4.
Initialization by parameter, refer to 11.3.5.
After rebooting, host controller can access absolute position value by DI/DO(refer to 11.3.6) or
communication(refer to 11.3.7). According to the setting of DP-57, the feedback signal can be choose in
PUU value(refer to 11.3.7) or number of turns and pulse number(refer to 11.3.2).
11.3.2.
Absolute pulse value
When motor rotating in clockwise, number of turns is defined negative; when in counter-clockwise,
number of turns is defined positive. The maximum range of countable turn is -32768 ~ 32767, if number of
turns exceed this range AL035 will be triggered and need to re-initialize the coordinate. If PD-57 is set to
ignore overflow, the system will continue with overflow warning.
If the motor is rotating in counter-clockwise and number of turns is 32767, next round is -32768, and if
continue rotating in counter-clockwise, round number will be -32768, -32767, -32766…
If number of turns is -32768 and the motor continue rotating in clockwise, the value will be 32767,
32766… So on and so forth.
Absolute pulse value = number of turns
×
pulse in single round
(Pulse in single round is 0 ~ 131071)
Absolute pulse value can be translate to PUU by following equation
If PA-00 define CCW rotation is positive direction
PUU = Absolute pulse value
×
Electronic Gear Ratio Numerator
Electronic Gear Ratio Denominator
If PA-00 define CCW rotation is positive direction
PUU = (-1)
×
Absolute pulse value
×
Electronic Gear Ratio Numerator
Electronic Gear Ratio Denominator
