Delta ASDA-A3 Series User Manual page 209

Motion Control
The PR Homing mode includes the function for setting the origin offset. You can define any point
on the coordinate axis as the reference origin, which does not have to be 0. Once you define
the reference origin, the system can create the coordinate system for the motion axis. See
Figure 7.1.3.1.1. The coordinate for the reference origin is 2000 (P6.001 = 2000). The motor
7
passes by the reference origin and then stops at coordinate 1477. From the coordinate system
that it created, the system automatically calculates the position of 0 point. As soon as the PR
motion command is issued, the motor moves to the specified position.
P6.001
Default: 0
Format: DEC
Settings:
Origin definition.
The homing procedure goes through two stages: high speed and low speed. Homing starts in high speed,
seeking the reference point (such as the limit switch and ORG signal). Once the servo detects the
reference point, the motor runs at low speed to find the reference point accurately (such as the Z pulse).
The speeds for the two stages are defined by P5.005 and P5.006.
7-12
P6.001: Origin definition
Coordinates
(after homing)
Motor position
(after homing)
Reverse to Z
S1
Z pulse
PL signal
Origin definition
Unit: -
2000
Origin
0
-
1000 1000 3000 4000
1477
H
E L
Reference
origin
Figure 7.1.3.1.1 Origin definition
Control mode: PR
Setting range: -2147483648 to +2147483647
Data size: 32-bit
5000
Address: 0602H
ASDA-A3
0603H