Delta ASDA-A2 Series User Manual page 257

A2
ASDA-
DATA (DW1): Data format
DW1: DATA (32 bits)
PUU: 0~ (P2-52-1)
P2-52: Indexing Coordinate Command
11) Homing Definition: P6-00 ~ P6-01, (64 bits), total 1 group.
Bit 31 ~ 28
DW0 BOOT
DW1
PATH (PR): 0 ~ 3F. (6 bits)
00: Stop mode. Motor stops after homing is completed.
1~63 (01 ~ 3F): Auto mode. Motor goes the dedicated PR 1 ~ 63 after homing is completed.
ACC: Acceleration time
DEC1: 1st deceleration time / 2nd deceleration time..
DLY: Delay time
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)
ORG_DEF: Homing definition value which is determined by the parameter P6-01. The homing
definition value does not necessarily have to be 0.
1) ASDA-A2 series does not provide the functions that find Z pulse and regard Z pulse as
"Home". Therefore, it needs to decide if the motor return to Z pulse position when homing
operation is completed.
After home sensor or Z pulse is found, the motor must accelerate to stop. Generally, the
motor stop position will be a little ahead of the position of Z pulse.
7-26
27 ~ 24 23 ~ 20
- DLY
Chapter 7 Motion Control Functions
19 ~ 16 15 ~ 12
- DEC1
ORG_DEF (32 bit)
11 ~ 8 7 ~ 4
ACC PATH
Revision September 2012
3 ~ 0
BOOT