Delta ASDA-A3 Series User Manual page 216

ASDA-A3
If you set the servo motor to look for the Z pulse in the forward direction or not to look for
the Z pulse (this is similar to the first method mentioned above), going in the reverse
direction or not to look for the pulse Z, refer to the timing diagram above.
Referencing the current position as the origin. This method uses the motor's current
5.
position as the reference origin. As long as the homing procedure is triggered and the
motor remains still, then coordinate positioning is complete.
Motor
Referencing the torque limit. This method uses the motor's stop position as the reference
6.
origin by referring to: the limit on the mechanism, the torque level detection (P1.087), and
the level reached timer (P1.088). You can also choose whether to use the Z pulse as the
reference origin.
Motor
Reverse to Z
Z Pulse
Torque curve
(Look for
hard stop)
Torque curve
(Look for Z
pulse)
Do not look
Torque curve
The figure above shows an example of reversing to look for the Z pulse. The motor runs at
high speed (first speed setting). Then the servo outputs a greater current to counter the
Start point
for Z
Start point
End
DI:0x27 SHOM
End
P1.087
P1.087
Motion Control
Protector
P1.088
Time
Time
End
P1.088
Time
7
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