Reference To Z Pulse - Delta ASDA Series Application Notes

ASDA Series Application Note
origin. No matter the starting position is S1, S2, or S3, the origin is at position E.
1.2.2.3 Reference to Z Pulse (P5-04.X=4: move forward directly to look for Z pulse;
P5-04.X=5: move backward directly to look for Z pulse)
Directly regard Z pulse as reference homing position. There is always a Z pulse whenever motor
runs a cycle. This method is applicable when the motor operating distance is within one cycle.
P5-04.Y does not need to be set here.
When homing, users can choose whether to let motor look for Z pulse either by moving forward
or backward. When encountering the limit signal, choices of making motor automatically operate
in reverse direction or showing errors are available. In Figure 1.22, after homing, different
starting position (S1 and S2) will lead to different stop positions. However, the origin will be at
position of Z pulse. No matter starting position is S1 or S2, the generated coordinates system
March, 2015
Y=0, Return to Z
S1
Y=1, Ahead to Z
S1
Y=2,
Do not look for Z
S1
Z Pulse
PL Signal
ORG Signal
Figure 1.20 Homing Path when Taking Rising Edge Signal as Reference
Figure 1.21 Regard Z Pulse as Original Point
H
E
S3
L L
H
L
S3
L
E S2
H
E
S3
L L
Introduction of PR Operation
H
ERR
S2
H
H
ERR
H
H
ERR
S2
H
1-17