Delta ASDA-A3 Series User Manual page 208

ASDA-A3
U
Z = 0: show error
Z = 1: reverse
P6.000
Default: 0x00000000
Unit: -
Format: HEX
Settings:
Homing definition:
D C B
DEC2: deceleration time selection for
A
second homing
B DLY: select 0 - F for delay time
C N/A
BOOT: automatically execute homing
D
procedure
 YX: PATH: path type
0x0: Stop: homing complete and stop
0x1 - 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 servo is powered on, whether to search for origin
0: do not execute homing
1: execute homing automatically (servo switches to on for the first time after power on)
Z
Y = 0: return to Z pulse
Y = 1: go forward to Z pulse
Y = 2: do not look for Z
-
Y = 0: return to Z pulse
Y = 2: do not look for Z
direction
Homing definition
A
Y
X = 6: homing in forward
X = 7: homing in reverse
pulse
X = 8: define current position as
-
X = 9: torque homing in forward
X = A: torque homing in reverse
pulse
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFF6F
Data size: 32-bit
U Z YX
YX PATH: path type
Z ACC: select 0 - F for acceleration time
DEC1: deceleration time selection for first
U
homing
-
Motion Control
X
direction, ORG:
ONOFF as homing
origin
direction, ORG:
ONOFF as homing
origin
the origin
direction
direction
Address: 0600H
0601H
7
7-11