Delta Electronics ASDA-A2 Series User Manual page 409

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Chapter 8 Servo Parameters
Group 6: P6-xx PR Path Definition Parameters
P6 - 00 ODEF
Default: 0x00000000
Applicable Control Mode: PR
Unit: N/A
Range: 0x00000000 ~ 0x10FFFF3F
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Homing definition:
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.
DEC1 / DEC2: 1st deceleration time / 2nd deceleration time. Deceleration 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:
P5-04 (Homing mode)
P5-05 (1st Speed Setting of High Speed Homing)
P5-06 (2nd Speed Setting of Low Speed Homing)
P6-01: ORG_DEF (Homing definition value). P6-01 is used to set the coordinate value
of the current home position for the movement of the coordinate system. The
coordinate value could be a non-zero value.
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).
8-164
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Homing Definition
Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12
BOOT -
deltaacdrives.com
DLY DEC2 DEC1
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sales@deltaacdrives.com
Address: 0600H, 0601H
Related Section:
Section 7.10
11 ~ 8 7 ~ 4 3 ~ 0
ACC PATH
Revision January 2011
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