Delta ASDA-A3 Series User Manual page 726

ASDA-A3
Sub-index
Description
Data format
Access
PDO mapping
Default
Corresponding servo
parameter
Note
Object 6098h: Homing method
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Object function:
There are a total of 35 homing methods. The 1
the 17 th - 34 th
Method 1: homing on the negative limit switch and Z pulse
indicates OD 6099h sub1 Speed during search for switch
indicates OD 6099h sub2 Speed during search for zero
Z pulse
Negative limit
switch
Method 2: homing on the positive limit switch and Z pulse
Z pulse
Positive limit
switch
2
E-Gear ratio denominator
UNSIGNED32
RW
Yes
1
P1.045
For the E-Gear ratio setting, refer to Section 6.2.5.
6098h
Homing method
VAR
INTEGER8
RW
Yes
0 - 35
0
do not look for the Z pulse; and the 35
Starting point
st - 16 th homing methods look for the Z pulse;
th defines the current position as the origin.
2
CANopen Mode
Starting
point
1
12
12-65