Delta Electronics ASDA-A2 Series User Manual page 219

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7.8 Homing Function
The homing function determines the homing characteristics of servo motors. The purpose of
homing function is used to connect the position of Z pulse of motor encoder to the internal
coordinate of the servo drive. The coordinate value corresponds to Z pulse can be specified.
After homing operation is completed, the stop position will not locate at the position of Z
pulse. This is because the motor must accelerate to stop when Z pulse is found. Generally, the
motor stop position will be a little ahead of the position of Z pulse. At this time, Z pulse is set
correctly so it will not affect the position precision.
For example:
If the coordinate corresponds to Z pulse is set to 100, after homing operation is completed,
Cmd=300. It indicates that the acceleration distance is equal to 300-100=200(PUU). Since
Cmd_E=100 (absolute position of Z pulse), if users want to command the motor to return to
the position of Z pulse, just set absolute position command to 100 or incremental position
command to 0.
In PR mode of ASDA-A2 series, after homing operation, it can execute the specified path and
command the motor to return to the position of Z pulse automatically.
When homing function is executed, the software limit function is disabled.
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Chapter 7 Motion Control Functions
Revision January 2011
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