Motion Control Commands; Homing Methods - Delta ASDA-A3 Series User Manual

Motion Control

7.1.3 Motion Control commands

The ASDA-A3 provides 100 path sets. Apart from the fixed homing command, you can
respectively set the speed, position, path jumping, parameter writing, rotary axis position, and
7
arithmetic operation commands. The following sections detail each command type.

7.1.3.1 Homing methods

The ASDA-A3 provides 11 homing methods in the PR mode, including home sensor, limit, and
hard stop as the reference origin. They come with sub-selections such as whether to refer to the
Z pulse and the limit signal as the trigger, with more than 30 combinations available. The
homing method is specified by P5.004 and the homing definition is determined by P6.000. The
function of each bit is listed as follows.
P5.004
Default:
Unit:
Format:
Settings:
X
Y
Definition of each setting value:
Reserved
7-10
Homing methods
0x0000
-
HEX
Homing method Z
Z pulse setting U
U
Limit setting
-
When reaching the limit:
Z = 0: show error
Z = 1: reverse direction
Control mode: PR
Setting range: 0x0000 - 0x12A
Data size:
Limit setting
Reserved
Z
Z pulse setting
0 to 1
-
Y = 0: return to Z pulse
Y = 1: go forward to Z
pulse
Y = 2: do not look for Z
pulse
Address: 0508H
16-bit
Y
Homing method
0 to 2
X = 0: homing in forward
direction and define
the positive limit as
the homing origin
X = 1: homing in reverse
direction and define
the negative limit as
the homing origin
X = 2: homing in forward
direction, ORG:
OFFON as the
homing origin
X = 3: homing in reverse
direction, ORG:
OFFON as the
homing origin
X = 4: look for Z pulse in
forward direction
and define it as the
homing origin
-
X = 5: look for Z pulse in
reverse direction
and define it as the
homing origin
ASDA-A3
0509H
X
0 to A