Motion Control Commands; Homing Methods - Delta ASDA-A3 Series User Manual

Motion Control

7.1.3 Motion Control commands

The ASDA-A3 provides 100 path sets that can include homing methods, speed, position, path
jumping, parameter writing, index positioning, and arithmetic operations. The following sections
7
detail each command type.

Homing methods

The ASDA-A3 provides 11 homing methods in PR mode. They include home sensor, limit, and
crash point. They come with sub-selections such as whether to refer to the Z pulse and the limit
signal as the trigger, with more than 30 combinations available. The homing method is specified
by P5.004 and the homing definition is determined by P6.000. The function of each bit is listed
below.
P5.004
Default:
Unit:
Format:
Settings:
U Z
X
Y
Definition of each setting value:
W
Reserved
-
7-8
Homing methods
0x0
-
HEX
Y X
Homing method
Z pulse setting
Z
Limit setting
0 – 1
-
-
When encounter limit:
Z = 0: show error
Z = 1: reverse direction
Control mode: PR
Setting range: 0 – 0x128
Data size: 16-bit
Z Limit setting
U Reserved
Y
Z pulse setting
0 – 2
Y = 0: return to Z pulse
Y = 1: go forward to
Z pulse
Y = 2: do not look for
Z pulse
Y = 0: return to Z pulse
Y = 1: go forward to
Z pulse
Y = 2: do not look for
Z pulse
ASDA-A3
Address: 0508H
0509H
X
Homing method
0 – 8
X = 0: homing in
forward direction and
define PL as homing
origin
X = 1: homing in
reverse direction and
define NL as homing
origin
X = 2: homing in
forward direction, ORG:
OFFON as homing
origin
X = 3: homing in
reverse direction, ORG:
OFFON as homing
origin
X = 4: look for Z pulse in
forward direction and
define it as homing
origin
Revision December, 2017