Delta ASDA-A3 Series User Manual page 781

Parameters
Note:
1. After finding the origin (sensor or Z), the servo has to decelerate to a stop. The stop position exceeds the origin by
a short distance:
If returning to the origin is not needed, set PATH to 0x00.
8
If returning to the origin is needed, set PATH to a 0x01 - 0x63 and set the route as PABS = 0.
Example:
When P6.000 = 0x0001, the servo automatically executes Path 1 after homing is complete.
Set the route of Path 1 (setting P6.002 & P6.003) as moving to the absolute position of 0.
2. If the origin is found (sensor or Z) and you want the servo to move an offset S and define the position after moving
as P, then set PATH = non-zero and set ORG_DEF = P - S, and this absolute Position command = P.
P6.001
Default: 0
Format: DEC
Settings:
Origin definition.
P6.002
Default: 0x00000000
Format: HEX
Settings:
Format of this parameter: (High word h) DCBA : (Low word L) UZYX
A SPD, Target speed
B DLY, Delay time
C AUTO
D Reserved
8-204
Origin definition
Unit: -
PATH 1 definition
Unit: -
High word
Note
Note
Control mode: PR
Setting range: -2147483648 to +2147483647
Data size: 32-bit
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFFFF
Data size: 32-bit
Low word
X TYPE, Path type
Y OPT, Option
Z ACC, Acceleration time
U DEC, Deceleration time
ASDA-A3
Address: 0602H
0603H
Address: 0604H
0605H
Note
Note