Delta ASDA-A3 Series User Manual page 212

ASDA-A3
The following describes the homing methods supported by the ASDA-A3. They can be
categorized into six types based on their reference points.
Referencing the limit. This homing method uses the positive or negative limit as the
1.
reference point. When the limit is detected, you can choose to look for the Z pulse and use
it as the reference origin. Changing the start point does not change the searching result.
The ASDA-A3 always looks for the set reference point so as to correctly reset the
coordinates.
Motor
Reverse to Z
Go forward to
Do not look
The figure above shows an example of reversing to look for the Z pulse. The servo motor
operates at high speed (first speed setting) and then decelerates once it reaches the limit
(rising-edge triggers the signal). Then the motor switches to low speed (second speed
setting) to look for the Z pulse in the reverse direction. When the motor finds the Z pulse, it
decelerates and stops, completing the homing procedure.
If you set the motor to look for the Z pulse in the forward direction and the limit signal
remains un-triggered (low, Start point 1), the servo motor operates at high speed (first
speed setting) and then decelerates once it reaches the limit (rising-edge triggers the
signal). Then the motor switches to low speed (second speed setting) to look for the Z
pulse. When the motor finds the Z pulse, it decelerates and stops, completing the homing
procedure. If the setting is to look for the Z pulse and the limit signal is triggered (high,
Start point 2), the servo motor returns to look for the rising-edge trigger signal at low speed
(second speed setting). Once it is found, the servo motor starts to look for the Z pulse and
decelerates to stop when it finds the Z pulse, completing the homing. In conclusion, the
origin is at the same position after homing with the same condition regardless of the
location of the start point.
Start point
Z
Start point 1
for Z
Start point
Z pulse
Limit signal
Limit
End
End
End
Motion Control
Start point 2
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