Delta ASDA-A3 Series User Manual page 421

Motion Control
Referencing the falling-edge of the ORG signal.
4.
This method uses the falling-edge signal of the home sensor as the reference origin. You
can choose whether to use the Z pulse as the reference origin after the ORG signal is
detected.
7
(a) Reverse to Z
(b) Go forward to Z
(c) Do not look for Z
Refer to the preceding figure for examples.
(a)
7-18
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 is un-triggered (low, Start point 1), the servo operates at
high speed (first speed setting) until reaching the rising edge of the ORG signal.
Then it decelerates and switches to low speed (second speed setting) until reaching
the falling edge of the ORG signal. Next, the servo reverses to look for the Z pulse.
When the servo finds the Z pulse, it decelerates to a stop, completing the homing
procedure.
End
Start
Start
point 2
point 3
Start Start
point 3 point 2
Start Start
End
point 3 point 2
ASDA-A3
Limit
End