Delta ASDA-A3 Series User Manual page 832

ASDA-A3
U: special function
Bit
Bit 12, Bit 13
Bit 14, Bit 15
The usage of PM.012.U [Bit 14] is described as follows.
Mode
Motion of motor
magnetic field
Detection time
Condition for
judgment
Condition for
successful
detection
Condition setting
Important
Function


Initial magnetic field
detection for Z axis Bit 13 = 0, Bit 12 = 0: disable this function.
Bit 13 = 0, Bit 12 = 1: when the value of the motor feedback position
[PUU] increases towards a positive value, the motor reaches the
mechanical limit.
Bit 13 = 1, Bit 12 = 0: when the value of the motor feedback position
[PUU] decreases towards a negative value, the motor reaches the
mechanical limit.

Initial magnetic field

detection when power
is on
Bit 15 = 0, Bit 14 = 0: quick mode; the motor moves significantly.
Bit 15 = 0, Bit 14 = 1: smooth mode; the motor moves slightly.
PM.012.U [Bit 14] = 0
Quick mode
Great
Short
When the initial magnetic field detection
conditions 1 and 2 (PM.012.X and
PM.012.Y) cannot be met at the same
time, the servo starts the detection
again. If the detection fails for 4
consecutive times, the servo displays
AL052.
The motion of the motor magnetic field is
greater than PM.012.X and the
command controlling the magnetic field
is greater than PM.012.Y.
The default setting is recommended.
If you are using a motor with a brake for the Z-axis mechanical part, using the initial
magnetic field detection is prohibited. Use a Hall sensor or an absolute motor instead.
Description
Before using this function, first set the initial magnetic field detection
when power is on (Bit 14 and Bit 15) to quick mode.
When executing parameter identification for the Z axis, place the
translation stage under the mechanical part at a balanced position.
Check for the mechanical limits, set this parameter, and then
execute initial magnetic field detection, which leads to successful
detection.
The initial magnetic field detection is not available for motors with
brakes.
The smooth mode does not support the initial magnetic field
detection for Z axis.
The mode only refers to the result of the
initial magnetic field detection condition 1
(PM.012.X). If the detection fails for 10
consecutive times, the servo displays
AL052.
The motion of the motor magnetic field is
smaller than PM.012.X.
The default setting is recommended.
PM.012.U [Bit 14] = 1
Smooth mode
Small
Long
Parameters
8
8-255