Delta ASDA-A3 Series User Manual page 443

Motion Control
Activation mode (Boot): to execute homing when the drive is in Servo On state after
(1)
powered on, it displays (B); if homing is not required, then no information is displayed.
Method selection: homing methods and Z pulse setting are shown in the following table.
(2)
Characters in red indicate the motor's position after homing; F signifies running forward; R
7
signifies running in reverse; ORG signifies origin; CUR signifies current position; BUMP
signifies the hard stop.
X = 0: homing in forward direction with PL
as the homing origin
X = 1: homing in reverse direction with
NL as the homing origin
X = 2: homing in forward direction with
ORG (when it switches from off to on
state) as the homing origin
X = 3: homing in reverse direction with
ORG (when it switches from off to on
state) as the homing origin
X = 4: look for the Z pulse in forward
direction with it as the homing origin
X = 5: look for the Z pulse in reverse
direction with it as the homing origin
X = 6: homing in forward direction with
ORG (when it switches from on to off
state) as the homing origin
X = 7: homing in reverse direction with
ORG (when it switches from on to off
state) as the homing origin
X = 8: use the current point as the origin
X = 9: Torque homing in forward direction
X = A: Torque homing in reverse direction
Offset: origin offset, P6.001.
(3)
Path: next PR path to be executed after homing.
(4)
Homing at high speed: first homing speed, P5.005.
(5)
Homing at low speed: second homing speed, P5.006.
(6)
7-40
Homing method
Y = 0: reverse to look for
Z pulse
Y = 1: go forward to look
for Z pulse
0: PLZ
1: NLZ
2: F_ORGZ
3: R_ORGZ
4: F_Z
5: R_Z
6: F_ORGZ
7: R_ORGZ
8: CUR
9: F_BUMPZ
A: R_BUMPZ
ASDA-A3
Y = 2: do not look for
Z pulse
0: PL
1: NL
2: F_ORG
3: R_ORG
6: F_ORG
7: R_ORG
9: F_BUMP
A: R_BUMP