Delta ASDA-A3 Series User Manual page 422

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 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) in the forward direction to reach 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.
If the ORG signal at the start point is triggered (high, Start point 3), the servo
(c)
operates at low speed (second speed setting) in the forward direction until the ORG
signal switches to low. 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.
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 current position as the origin.
5.
This method uses the motor's current position as the reference origin. As long as the
homing procedure is triggered and the motor remains still, then coordinate positioning is
complete.
Motion Control
7
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