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Delta ASD-A2 Series User Manual

Delta ASD-A2 Series
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Chapter 12 Absolute System ASDA-A2
Revision February, 2017 12-15
12.3 System Initialization Procedure and Operation
12.3.1 System Initialization Procedure
When the servo system is power on, the host controller can get the motor coordinate position via
communication with RS-485 or DI/O. There are two data in different units can be read, and they
are in PULSE and PUU.
At the very first time to operate absolute system, there will be a fault code, AL060 shown when
power on because the initialization procedure still not yet be done. The fault will be kept until the
initialization procedure is finished. Besides, the AL060 will be displayed when the power from the
servo and battery is discontinued that will lead to the coordinate system lost. There is a fault code,
AL062 which is used to indicate when the motor position is exceeding the design range where -
32768 ~ 32767 for motor turns. But from the view of PUU, the coordinate value must fall into the
range -2147483648 ~ 2147483647 to avoid triggering the fault AL289.
For some applications which will rotate motor in one direction, the fault AL062 for checking turns
number within -32763~32768 and the fault AL289 for detecting PUU within -
2147483648~2147483647 can be turned off by parameter P2-70.
Parameter Settings:
1. The AL060 will be cleared when the coordinate system has been initialized.
PR mode: The absolute coordinate system will be reset after any homing operation under PR
mode.
Other modes: Two methods can be used to initialize the coordinated system. One is via digital
inputs described in section 12.3.4, and another one is applying parameters in section 12.3.5.
2. For an initialized system when every time the power is turned on, the host controller can read
the absolute coordinate data via digital inputs and digital outputs (see section 12.3.6) or
parameters with communication (see section 12.2.6). Through the settings of parameter P2-70,
the host controller can read the coordinated data in PUU (see section 12.3.3) or in number of
turn plus the number of pulse within one turn (see section 12.3.2).

Table of Contents

Questions and Answers:

Delta ASD-A2 Series Specifications

General IconGeneral
Control ModePosition, Speed, Torque
FeedbackIncremental encoder, Absolute encoder
Rated Output Power0.1 kW to 15 kW
Power Supply200-230V AC
Communication InterfaceRS-485, CANopen
Protection FeaturesOverload, Overvoltage, Overcurrent, Overheat

Summary

Preface

Important Safety Precautions

Lists crucial safety rules to follow before and during product use, covering environment, wiring, power connection, and touching heat sinks.

Safety Precautions

Safety Symbols Explanation

Explains the meaning of danger, warning, and stop symbols used in the manual to indicate potential hazards and prohibited activities.

Inspection Safety Precautions

Provides a safety precaution for inspection, stating that following instructions is necessary to avoid fire or malfunction.

Installation Safety Precautions

Warns against exposing the product to environments with water, corrosive gas, or flammable gas to prevent electric shock or fire.

Wiring Safety Precautions

Details safety precautions for wiring, including grounding, connecting three-phase source, tightening terminal screws, and following wire rod connections.

Operation

Emergency Stop Assurance

Emphasizes ensuring the emergency stop function is always active before machine operation.

Rotating Parts Safety

Prohibits touching any rotating motor parts during operation to prevent personnel injury.

Accident Prevention During Trial Run

Recommends separating couplings and belts for initial trial runs to prevent accidents.

Heat Sink Safety

Advises against touching the servo drive's heat sink to avoid burns due to high temperature.

Maintenance and Inspection

Internal Parts Safety

Prohibits touching internal parts of the servo drive and motor to prevent electric shock.

Panel Disassembly Safety

Prohibits disassembling the servo drive panel when power is on to prevent electric shock.

Ground Terminal Safety After Power Off

Warns against touching the ground terminal within 10 minutes after power off due to residual voltage.

Motor Disassembly Prohibition

Prohibits disassembling the motor to prevent electric shock or personnel injury.

Wiring Safety During Power On

Prohibits changing wiring when the power is on to prevent electric shock or personnel injury.

Qualified Personnel Requirement

States that only qualified professionals should install, wire, and maintain the servo drive and motor.

Chapter 2 Installation

Chapter 3 Wiring

Chapter 4 Panel Display and Operation

Parameter Setting Procedure

Outlines the procedure for switching between operating modes (Monitoring, Parameter, Alarm) and operating within each mode.

Chapter 5 Trial Operation and Tuning

Applying Power to Servo Drive

Provides step-by-step instructions for correctly wiring the motor to the servo drive and applying power, including voltage specifications and crucial safety cautions.

Chapter 6 Control Mode of Operation

Chapter 7 Motion Control

Chapter 8 Parameters

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