Group 6: P6-Xx Pr Path Definition Parameters - Delta ASDA-A2 Series User Manual

Group 6: P6-xx Pr Path Definition Parameters

P6 - 00 ODEF Homing Definition
Default: 0x00000000
Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0x10FFFF3F
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Homing definition:
Bit
Function
PATH: Path style (4 bits)
0: Stop mode. Motor stops after homing is completed.
1~63: Auto mode. Motor goes the dedicated path after homing is completed.
ACC: Acceleration time 0 ~ F, corresponds to P5-20 ~ P5-35.
DEC1 / DEC2: 1st deceleration time / 2nd deceleration time. Deceleration time 0 ~ F,
corresponds to P5-20 ~ P5-35.
DLY: Delay time 0 ~ F, corresponds to P5-40 ~ P5-55.
BOOT: Boot mode. Disable or enable homing function when the servo drive is applied to power
(power on).
0: Disable homing function
1: Enable homing function (when the servo drive is applied to power, first time Servo On)
Other parameters relevant to homing function:
P5-04 (Homing mode)
P5-05 (1st Speed Setting of High Speed Homing)
P5-06 (2nd Speed Setting of Low Speed Homing)
P6-01: ORG_DEF (Homing definition value). P6-01 is used to set the coordinate value of the
current home position for the movement of the coordinate system. The coordinate value could
be a non-zero value.
After detecting "Home" (home sensor or Z pulse), the motor will decelerate to stop the
operation.
If the motor does not return to "Home", just set path number to 0.
If the motor must return to "Home", set path number to a non-zero value and set the route
PABS = ORG_DEF.
When detecting "Home" (home sensor or Z pulse), if the motor has to go forward for a while
(offset value S) and reach the position P, set the path number to a non-zero value and set
ORG_DEF = P – S (the absolute position command of this route is P).
Revision April, 2010
31 ~ 28 27 ~ 24 23 ~ 20
BOOT -
Chapter 8 Servo Parameters|ASDA-A2 Series
19 ~ 16 15 ~ 12
DLY DEC2 DEC1
Address: 0600H, 0601H
Related Section: Section 7.10
11 ~ 8 7 ~ 4
ACC PATH
3 ~ 0
8-157