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Absolute System

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ASDA -A3

10.3 System initialization and operating procedures

10.3.1 System initialization

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AL06A occurs when you initialize the absolute system for the first time because the position

system has not been established. Clear the alarm by setting up the position system. When

insufficient battery power or interruption of battery power causes loss of the position system,

AL060 occurs. In the absolute system, the position data is within a specific range. When the

number of motor revolutions exceeds the range of -32,768 to +32,767, AL062 occurs. When the

PUU position value exceeds the range of -2,147,483,648 to +2,147,483,647, AL289 occurs.

In addition to the preceding alarms (enabled by default), you can use P2.070 [Bit 2] to set

whether to show AL062 and AL289 if the absolute position system overflows (the number of

revolutions exceeds the range of -32,768 to +32,767 or the PUU number exceeds the range of

-2,147,483,648 to +2,147,483,647). This function is for systems which use incremental

commands to operate in a single direction.

P2.070 setting:

1. Establish the absolute origin position. When the position setting is complete, AL06A (or

AL060) is automatically cleared. There are two representations for the controller to establish

the absolute origin position: pulse number and PUU number. You can establish the absolute

origin position with DI/DO, parameters, or the PR homing function.

2. When the system is powered on again, the controller can access the motor’s absolute

position either with DI/DO or communication. Based on the setting of P2.070, the controller

can read the position value in PUU (refer to Section 10.3.3) or the number of revolutions

plus the pulse number within a single revolution (refer to Section 10.3.2).

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