Please refer to the following steps: Step 1: Ensure that parameter P2-69 is set correctly. P2-69=0: Incremental mode. Servo motor with absolute encoder can be operated as an incremental motor. P2-69=1: Absolute mode. (This setting is only available for the servo motor with absolute encoder. When an incremental servo motor is connected, if P2-69 is set to 1, a fault will be detected and the fault code, AL069 will be shown on the drive’s LCD display.) This parameter is effective only after the servo drive is restarted (after switching power off and on). Step 2: Connect absolute battery boxes. The battery boxes should be properly connected to both ends of the servo drives and servo motors. When operating the absolute system for the very first time, a fault code, AL060 is shown when the power comes on since the initialization procedure is still not complete. The fault is kept until the initialization procedure is finished. Step 3: Execute initialization procedure. Before the initialization procedure is finished, a fault code, AL060 is displayed. There are three methods for clearing AL060 as in the following. (1) Parameter settings: The procedure is P2-08=271 and then P2-71=1. Then, the fault code, AL060 is cleared and the number, 00000 is shown on the drive’s LCD display. This mode is only for modes besides PR mode that already has a homing procedure to apply. When the parameter P2-71 is set to 1 (one) via digital keypad or communication, the system starts initialization. In order to protect from accidentally writing on P2-71 to reset an absolute system, the number 271 should be written to P2-08 to unlock the writing of 1 (one) to P2-71. However, when the voltage level of the battery has fallen below its minimum allowable value (3.1V), a fault code, AL061 appears on the drive’s LCD display. (2) Use digital inputs and outputs Besides PR mode, digital inputs and outputs are used for a drive’s homing when other modes are selected. Move the motor to home place, enable digital input, ABSE(0x1D), then enable the digital input, ABSC(0x1F) from OFF to ON, and the system starts initialization. The pulse number sets to zero and the number in P6-01 is for PUU to reference. (3) Homing operation under PR mode AL060 is cleared when the absolute coordinate system is reset after any homing operation under PR mode. Step 4: Read absolute coordinate data, i.e. motor absolute positions. (1)Use P2-70 to determine which type of data is read, PUU or Pulse. Through the settings of parameter P2-70, the host controller can read the coordinated data in PUU or in a number of turns plus the number of pulses within one turn. When Bit 0=0 in P2-70, the PUU number can be read by using digital inputs and outputs. When Bit 0=1 in P2-70, the Pulse number can be read by using digital inputs and outputs. When Bit 1=0 in P2-70, the PUU number can be read through communication. When Bit 1=1 in P2-70, the Pulse number can be read through communication. (2)If the data format of the motor position is in Pulse (P2-70=2, Bit1=1, Bit0=0), P0-51 represents the turns of the encoder’s absolute position and P0-52 represents the pulse number of the encoder’s absolute position. The servo drive updates its encoder status to P0-50 and encoder position to P0-51 and P0-52 when the parameter P0-49 is set to 1 or 2. Set P0-49=1: Renew the encoder data to parameters P0-50~P0-52 only. Set P0-49=2: Renew the parameters P0-50~P0-52, and clear the position error as well. While the setting, P0-49=2 is activated, the current position of the motor will be reset as the target position of position command (same function as CCLR). (3)If the data format of the motor position is in PUU (P2-70=0, Bit1=0, Bit0=0), P0-51 becomes 0 and P0-52 represents PUU number of motor absolute position. The servo drive will update its encoder status to P0-50, clear P0-51 to 0 and update the encoder position to P0-52 when the parameter P0-49 is set to 1 or 2. Set P0-49=1: Renew the encoder data to parameters P0-50~P0-52 only. Set P0-49=2: Renew the parameters P0-50~P0-52, and clear the position error as well. While the setting, P0-49=2 is activated, the current position of the motor will be reset as the target position of the position command (same function as CCLR). Step 5: Read motor absolute position displayed on P0-51 and P0-52 through the host controller. Step6: Check if any fault code is shown on the drive’s LCD display. (1)AL060: When operating the absolute system the very first time, a fault code, AL060 appears when power on because the initialization procedure is still not complete. The fault is kept until the initialization procedure is finished. Besides, AL060 appears when the power from the servo and battery is discontinued, which could lead to a lost coordinate system. (2)AL061: When the fault code, AL061 is shown on the drive’s LCD display, it indicates that the voltage level of the battery has fallen below its minimum allowable value (3.1V). (3)AL062: AL062 indicates when the motor position exceeds the design range where -32768~32767 for motor turns. But from the view of PUU, the coordinate value must fall into the range of 2147483648 ~ 2147483647 to avoid triggering the fault AL289. (4)AL069: When AL069 is displayed, please examine if the connected servo motor is a servo motor with an absolute encoder. If an incremental motor is connected, a fault code, AL069 appears on the drive’s LCD display to alert that an error has occurred.