P6.Xxx Pr Parameters - Delta ASDA-B3 Series User Manual

ASDA-B3

P6.xxx PR parameters

P6.000
Default: 0x00000000
Unit: -
Format: HEX
Settings:
Homing definition:
DEC2: deceleration time selection for
A
second homing
B DLY: select 0 - F for delay time
C N/A
D BOOT
 YX: PATH: path type
0x00: Stop: homing complete and stop
0x01 - 0x63: Auto: homing complete and execute the specified path (Path#1 - Path#99)
 Z: ACC: select 0 - F for acceleration time
0 - F: correspond to P5.020 - P5.035
 U: DEC1: deceleration time selection for first homing
0 - F: correspond to P5.020 - P5.035
 A: DEC2: deceleration time selection for second homing
0 - F: correspond to P5.020 - P5.035
 B: DLY: select 0 - F for delay time
0 - F: correspond to P5.040 - P5.055
 D: BOOT: when the drive is powered on, whether to search for the origin
0: do not execute homing
1: execute homing automatically (servo switches to on for the first time after applying power)
Apart from the above definitions, the related settings for homing also include:
P5.004 homing methods.
1.
P5.005 - P5.006 speed setting of searching for the origin.
2.
P6.001: ORG_DEF is the coordinate of the origin and may not be 0. This function is used as a
3.
traversal of the coordinate.
Note:
After the origin is found (sensor or Z), the motor has to decelerate to a stop. The stop position exceeds the origin
1.
by a short distance:
If returning to the origin is not needed, set PATH to zero.
Homing definition
High bit
D C B A
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFF6F
Data size: 32-bit
Low bit
YX PATH: path type
Z ACC: select 0 - F for acceleration time
DEC1: deceleration time selection for
U
first homing
- -
Parameters
Address: 0600H
0601H
8
8-131