Delta ASDA-A3 Series User Manual page 423

Motion Control
Referencing the torque limit.
6.
This method uses the motor's stop position as the origin by referring to: the limit on the
mechanical parts, the torque level detection (P1.087), and the level reached timer
(P1.088). You can also choose whether to use the Z pulse as the origin.
7
Motor
(a) Reverse to Z
Torque curve
Torque curve
(b) Do not look for Z
Torque curve
Refer to the preceding figure for examples.
(a) If you set the servo to look for the Z pulse in the reverse direction, the servo operates
at high speed (first speed setting) and outputs a greater current to counter the external
force once it touches the protector. When the motor torque reaches the torque
detection level (P1.087) and the output duration is longer than the level reached timer
setting (P1.088), the servo operates in the reverse direction to look for the Z pulse at
low speed (second speed setting). Once the servo finds the Z pulse, it decelerates to a
stop, completing the homing procedure.
(b) If you set the servo not to look for the Z pulse, the servo operates at high speed (first
speed setting) until it touches the protector. Then the servo outputs a greater current
to counter the external force. When the motor torque reaches the torque detection
level (P1.087) and the output duration is longer than the level reached timer setting
(P1.088), the servo stops, completing the homing procedure.
Pay special attention when executing the Torque homing procedure. The motor's actual
maximum torque output is 10% greater than the maximum torque limit setting (P1.087), and the
great impact may cause damage to the machine.
7-20
Start point
Z Pulse
(Look for
hard stop)
(Look for Z
pulse)
Start point
End
P1.087
P1.087
Protector
P1.088
Time
Time
End
P1.088
Time
ASDA-A3