Delta ASDA-A3 Series User Manual page 420

ASDA-A3
If the ORG signal at the start point is un-triggered and the current position is
(b)
relatively closer to the limit switch (Start point 2), the servo operates at high speed
(first speed setting) until reaching the limit switch. You can set whether to show an
error or reverse the operating direction when it reaches the limit switch. If you set the
servo to reverse direction, it operates in the reverse direction to reach the home
sensor (ORG). Once reaching the home sensor (ORG), the servo decelerates and
operates at low speed (second speed setting) until the ORG signal switches to low.
Next, the servo starts to look for the Z pulse. When the servo finds the Z pulse, it
decelerates to a stop, completing the homing procedure.
If the ORG signal at the start point is triggered (high, Start point 3), the servo
(c)
reverses with low speed (second speed setting) and after the ORG signal switches to
low, it continues to look for the Z pulse. Once the servo finds the Z pulse, it
decelerates to a stop, completing the homing procedure.
If you set the servo to look for the Z pulse in the forward direction or not to look for
(d)
the Z pulse (this is similar to the first method (a) mentioned earlier), refer to the
preceding timing diagram.
Referencing the Z pulse.
3.
This method uses the Z pulse as the reference origin. One Z pulse is generated per motor
revolution. This method is only suitable when the operation is kept within one motor
revolution.
Motor
Start point 1
Z pulse
Limit signal
End
Start point 2
End
Motion Control
Limit
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