Delta ASDA-A3 Series User Manual page 419

Motion Control
(c)
7
Referencing the rising-edge of the ORG signal.
2.
This method uses the rising-edge signal of the home sensor as the reference origin. You
can choose whether to use Z pulse as the reference origin after the ORG signal is
detected.
(a) Reverse to Z
(b) Go forward to Z
(c) Do not look for Z
Refer to the preceding figure for examples.
(a)
7-16
If you set the servo to not look for the Z pulse, the servo first operates at high speed
(first speed setting) and then decelerates to a stop once the rising-edge limit signal is
triggered. Then the servo switches to low speed (second speed setting) to look for
the rising-edge signal. Once it finds the rising-edge signal, the servo decelerates to a
stop, completing the homing procedure.
Motor
Start point 1
Start point 1
Start point 1
Z pulse
Limit signal
ORG signal
If you set the servo to look for the Z pulse in the reverse direction, when the ORG
signal at the start point is un-triggered (low, Start point 1), the servo operates at high
speed (first speed setting) until reaching the rising-edge of ORG signal. Then it
decelerates, switches to low speed (second speed setting) until the ORG signal
switches to low, and starts looking for the Z pulse in the reverse direction. When the
servo finds the Z pulse, it decelerates to a stop, completing the homing procedure.
End Start point 3
Start point 3
End
End Start point 3
Limit
Start point 2
Start point 2
Start point 2
ASDA-A3