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

Chapter 8 Servo Parameters
Group 6: P6-xx PR Path Definition Parameters (Refer to Chapter 7)
P6-00 ODEF
Operation
Interface:
Default: 0x00000000
Control
Mode:
Range: 0x00000000 ~ 0x10FFFF3F
Data Size: 32-bit
Display
Format:
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.


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)
Other parameters relevant to homing function:

1. P5-04 (Homing mode)
2. P5-05 (1st Speed Setting of High Speed Homing) and P5-06 (2nd Speed
3. P6-01: ORG_DEF (Homing definition value). P6-01 is used to set the
In ASDA-A2 series, 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).
8-234
Homing Definition
Keypad / Software
PR
Unit: N/A
Hexadecimal
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12
BOOT -
DEC1: 1st deceleration time 0 ~ F, corresponds to P5-20 ~ P5-35.
Setting of Low Speed Homing)
coordinate value of the current home position for the movement of the
coordinate system. The coordinate value could be a non-zero value.
Communication
DLY DEC2 DEC1
ASDA-
Address: 0600H
0601H
Related Section:
Section 7.10
11 ~ 8 7 ~ 4 3 ~ 0
ACC PATH
Revision September 2012
A2