Homing Description Of Pr Mode; Di/Do Provided By Pr Mode And Diagrams - Delta ASD-A2-0121 Series User Manual

ASDA-A2
7.8

Homing Description of PR Mode

The purpose of homing is to connect the Z pulse position of motor encoder to the internal
coordinate of the servo drive. The coordinate value corresponded by Z pulse can be specified.
After homing is completed, the stopped position will not be the Z pulse. It is because it has to
decelerate to stop when finding the Z pulse. It might therefore exceed a bit. However, since the
position of Z pulse has correctly setup, it would not influence the accuracy of positioning. For
example, when specifying the coordinate value corresponded by Z pulse is 100 and it is
Cmd_O = 300 after homing, it means the deceleration distance is 300 – 100 = 200 (PUU). Since
Cmd_E = 100 (Z's absolute coordinate), if desiring to return to Z pulse position, issue the
positioning command, absolute 100 command or incremental 0 command.
After homing is completed, it will execute the specified PR automatically, which can move a
distance of offset after homing.
When it is executing homing, software limit is disabled.
7.9 DI / DO Provided by PR Mode and Diagrams
DI signal:
CTRG, SHOM, STP, POS 0 ~ 5, ORG, PL (CCWL), NL (CWL), EV1 ~ 4
DO signal:
Cmd_OK, MC_OK, TPOS, ALM, CAP_OK, CAM_AREA
System frame:
DI.CTRG
DO.Cmd_OK
DO.TPOS
DO.MC_OK
7-16
Command is issuing
DLY
Servo positioning
is complete
DI.Cmd_OK and
DI.TPOS are both
Chapter 7 Motion Control
on