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. Apart from the fixed homing command, you can
respectively set the speed, position, path jumping, parameter writing, index position, and
7
arithmetic operation commands. The following sections detail each command type.

7.1.3.1 Homing methods

The ASDA-A3 provides 11 homing methods in the PR mode, including home sensor, limit, and
hard stop as the reference origin. 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 as follows.
P5.004
Default:
Unit:
Format:
Settings:
U Z
X
Y
Definition of each setting value:
U
Reserved
-
-
7-10

Homing methods

0x0000
-
HEX
Y X
Homing method
Z pulse setting
Z
Limit setting
0 – 1
-
When reaching the
limits:
Z = 0: show error
Z = 1: reverse
direction
When reaching the
limits:
Z = 0: show error
Z = 1: reverse
direction
Control mode: PR
Setting range: 0 - 0x12A
Data size:
Z
U
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
-
Address: 0508H
0509H
16-bit
Limit setting
Reserved
X
Homing method
0 – A
X = 0: homing in forward
direction and define the
positive limit as homing
origin
X = 1: homing in reverse
direction and define the
negative limit 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
X = 5: look for Z pulse in
reverse direction and
define it as homing origin
ASDA-A3