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).
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