Delta ASDA-A2 User Manual

Chapter 12 Absolute System ASDA-A2
Revision February, 2017 12-19
12.3.6 Use Digital Inputs/Outputs to Read the Absolute Coordinate Data
When Bit 0 is 0 in P2-70, the PUU number can be read by using digital inputs and outputs. The
frame is as below.
When Bit 0 is 1 in P2-70, the PULSE number can be read by using digital inputs and outputs. The
frame is as below.
Explanation:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR WORD_2)+0x30A5) XOR
WORD_3)+0x5A06)
Note:
1. This algorithm has no plus or minus sign.
2. 0xA700, 0x605A, 0x30A5 and 0x50A6 are the constans of hexadecimal.
3. WORD_0: encoder status (Bit 15~0)
WORD_1: encoder turn (Bit 31~16)
WORD_2: encoder pulse (Bit 47~32)
WORD_3: encoder pulse (Bit 63~48)

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.