Delta ASDA-A3 Series User Manual page 198

ASDA-A3
P6.001 Origin definition
Default: 0
Unit: -
Format: DEC
Settings:
Origin definition.
The homing procedure goes through two stages: high speed and low speed. Homing starts in
high speed, seeking the reference point (such as the limit switch and ORG signal). Once the
servo detects the reference point, the motor runs at low speed to find the reference point
accurately (such as the Z pulse). The speeds for the two stages are defined by P5.005 and
P5.006.
P5.005 High speed homing (first speed setting)
Operation
Panel / software
interface:
Default: 100.0
1 rpm (rotary motor)*
Unit:
10
0.1 – 6000.0 (rotary motor)*
Setting range: 0.1 – 1599999.9 (linear
motor)*
Format:
DEC
Example:
1.5 = 1.5 rpm
Settings:
The first speed setting for high speed homing.
First high speed homing
Z Pulse
Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet
synchronous linear motor.
Revision December, 2017
Communication
1000
0.1 rpm (rotary motor)*
-6
m/s (linear motor)* 10
1 – 60000 (rotary motor)*
1 – 15999999 (linear motor)*
DEC
15 = 1.5 rpm
ORG
Second low speed homing
Control mode: PR
Setting range: -2147483648 – 2147483647
Data size: 32-bit
Control mode: PR (set with P5.004)
Data size:
-6
m/s (linear motor)*
-
-
First high speed homing
Z Pulse
Motion Control
Address: 0602H
0603H
Address: 050AH
050BH
32-bit
-
-
Second low speed homing
ORG
7
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