Delta ASDA-A3 Series User Manual page 215

Motion Control
Referencing the falling-edge of the ORG signal. This method uses the falling-edge signal
4.
of 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.
7
The figure above shows an example of reversing to look for the Z pulse. If the ORG signal
is un-triggered at the start point (low, Start point 1), the servo motor runs at high speed
(first speed setting) until reaching the rising edge of the ORG signal. Then it decelerates
and switches to low speed (second speed setting) until the ORG signal is off (low). Next, it
reverses to look for the Z pulse and decelerates to a stop once it finds the Z pulse,
completing the homing.
If ORG signal is un-triggered at the start point and is relatively closer to the limit switch
(Start point 2), the motor runs at high speed (first speed setting). You can set whether to
show an error or reverse the running direction when it reaches the limit switch. If you set it
to reverse direction, the motor operates in reverse to reach the ORG signal. Once it
reaches the ORG signal, it decelerates and runs at low speed (second speed setting) until
it reaches the falling edge of the ORG signal. Next, it reverses to look for the Z pulse and
decelerates to a stop once it finds the Z pulse, completing the homing.
If the ORG signal is triggered at the start point (high, Start point 3), the servo motor
operates at low speed (second speed setting) in the forward direction until the ORG signal
switches to low. Next, it reverses to look for the Z pulse and decelerates to a stop once it
finds the Z pulse, completing the homing.
7-18
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
Start
point 2
point 3
Start Start
point 3 point 2
Start Start
End
point 3 point 2
ASDA-A3
Limit
End