Delta ASDA-A3 Series User Manual page 414

ASDA-A3
U
P6.000
Default: 0x00000000
Unit: -
Format: HEX
Settings:
Homing definition:
DEC2: deceleration time selection for
A
second homing
B DLY: select 0 - F for delay time
C Reserved
BOOT: whether to execute homing
D
automatically when the drive is powered on
 YX: PATH: path type
0x00: Stop: the servo stops after homing is complete
0x01 - 0x63: Auto: the servo executes the specified path (Path 1 - Path 99) after homing is
complete
Z: ACC: select 0 - F for acceleration time

0 - F: correspond to P5.020 - P5.035
 U: DEC1: deceleration time selection for first homing
0 - F: correspond to P5.020 - P5.035
 A: DEC2: deceleration time selection for second homing
0 - F: correspond to P5.020 - P5.035
 B: DLY: select 0 - F for delay time
0 - F: correspond to P5.040 - P5.055
 D: BOOT: whether to execute homing automatically when the drive is powered on
0: do not execute homing
1: execute homing automatically (servo switches to on for the first time after power is applied)
Z
-
When reaching the limit:
Z = 0: show error
Z = 1: reverse direction
Homing definition
High word
Y
Y = 0: return to Z pulse
Y = 1: go forward to Z
pulse
Y = 2: do not look for Z
pulse
-
Y = 0: return to Z pulse
Y = 2: do not look for Z
pulse
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFF6F
Data size: 32-bit
Low word
YX PATH: path type
Z ACC: select 0 - F for acceleration time
DEC1: deceleration time selection for first
U
homing
- -
Motion Control
X
X = 6: homing in forward
direction, ORG:
ONOFF as the
homing origin
X = 7: homing in reverse
direction, ORG:
ONOFF as the
homing origin
X = 8: define the current
position as the
origin
X = 9: torque homing in
forward direction
X = A: torque homing in
reverse direction
Address: 0600H
0601H
7
7-11