Homing Mode - Delta ASDA-A3 Series User Manual

CANopen Mode

12.3.3 Homing Mode

After homing is complete, the coordinate system of the servo drive is established and the drive
12 can start executing the position command issued by the controller. Delta servo drives offer
35 homing modes, including finding the home switch, positive and negative limits, and motor
Z pulse.
Homing method (6098h)
Home offset (6097Ch)
Homing speeds (6099h)
Max. profile velocity (607Fh)
Quick stop deceleration
(6085h)
Homing acceleration /
deceleration (609Ah)
Max. acceleration (60C5h)
Max. deceleration (60C6h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Operation steps:
1. Set OD 6060h to 06h to set the mode as Homing Mode.
2. Set OD 607Ch for the home offset.
3. Set OD 6098h for the method to find the origin point.
4. Set OD 6099h sub1 for the speed when searching for the home switch.
5. Set OD 6099h sub2 for the speed when searching for the Z pulse.
6. Set OD 609Ah for the homing acceleration / deceleration time.
7. Set OD 6040h for the control command. Follow the steps below. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to Section 12.2.2.6.
12-24
[PUU]
Homing
function
Speed
[RPM]
limit
function
Trajectory
generator
Acceleration
limit function [ms]
Step Bit 4 Bit 3 Bit 2
6.1 0 0
6.2 0 0
6.3 0 1
6.4 1 1
torque limit
torque limit
Filter
E-Gear ratio P1.008
6093h sub1 P1.025 -
6093h sub2 P1.028
P1.036
P1.068
E-Gear ratio
6093h sub2
6093h sub1
Bit 1 Bit 0
1 1 0 Shutdown
1 1 1 Switch on (ready for servo on).
1 1 1 Enable operation (servo on).
Command triggered (rising-edge
1 1 1
triggering).
Positive
(60E0h)
Max. torque
(6072h)
Negative
(60E1h)
Torque
Speed
Position
control control
control
loop
loop
Description
ASDA-A3
Servo
motor
loop
M
Encoder