Delta ASDA-A3 Series User Manual page 213

Motion Control
If you set the motor to not look for the Z pulse, the servo motor first operates at high speed
(first speed setting) and then decelerates to a stop once the rising-edge limit signal is
triggered. Then the motor switches to low speed (second speed setting) to look for the
rising-edge signal. Once it finds the rising-edge signal, the motor decelerates to a stop,
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completing the homing.
Referencing the rising-edge of the ORG signal. This method uses the rising-edge signal of
2.
the home sensor as the reference origin. You can choose whether or not to use Z pulse as
the reference origin after the ORG signal is detected.
The figure above shows an example of reversing to look for the Z pulse. If the home
sensor signal for the start position is un-triggered (low, Start point 1), the servo motor
operates at high speed (first speed setting) until it reaches the rising-edge of ORG signal.
Then it decelerates, switches to low speed (second speed setting) until the home sensor
signal turns off, and starts looking for the Z pulse in the reverse direction. When the motor
finds the Z pulse, it decelerates to a stop, completing the homing.
If the ORG signal at the start point is un-triggered and the current position is relatively
closer to the limit switch (Start point 2), then the servo motor operates at high speed (first
speed setting). You can choose whether to show an error or reverse the running direction
when it reaches the limit switch. If you choose to reverse the rotation direction, the servo
motor keeps rotating in reverse direction. Once the motor reaches the limit switch, it
changes to low speed (second speed setting) and operates until the ORG signal switches
7-16
Motor
Reverse to Z
Start point 1
Go forward to
Z
Start point 1
Do not look
for Z
Start point 1
Z pulse
Limit signal
ORG signal
End Start point 3
Start point 3
End
Start point 3
End
Limit
Start point 2
Start point 2
Start point 2
ASDA-A3