Delta ASDA-A3 Series User Manual page 415

Motion Control
The PR Homing mode includes the function for setting the origin offset. You can define any point
on the coordinate axis as the reference origin, which does not have to be 0. Once you define
the reference origin, the system can create the coordinate system for the motion axis. See
Figure 7.1.3.1.1. The coordinate of the reference origin is 2000 (P6.001 = 2000). The motor
7
passes by the reference origin and then stops at coordinate 1477. From the coordinate system
that it created, the system automatically calculates the position of 0 point. As soon as the PR
motion command is issued, the motor moves to the specified position.
P6.001
Default: 0
Format: DEC
Settings:
Origin definition.
The servo starts the homing procedure at high speed to seek the reference point (such as the limit switch
and ORG signal), which takes shorter time. Once the servo detects the reference point, the motor runs at
low speed to find the reference point accurately (such as the Z pulse). The speeds for the two stages are
defined by P5.005 and P5.006.
7-12
P6.001: Origin definition
S1
Origin definition
Unit: -
1000 1000 3000 4000
H
E L
Figure 7.1.3.1.1 Origin definition
Control mode: PR
Setting range: -2147483648 to +2147483647
Data size: 32-bit
5000
Address: 0602H
0603H
ASDA-A3