Homing Mode - Delta ASDA-A3 Series User Manual

ASDA-A3

12.3.3 Homing mode

After homing is complete, the position system of the servo drive is established and the drive can
start executing the position command issued by the controller. The Delta A3 servo drive offers
39 homing methods, including homing on the home switch, positive or negative limit,
motor Z pulse, and hard stop.
Homing method (6098h)
Home offset (607Ch)
Homing speeds (6099h)
Max profile velocity (607Fh)
Quick stop deceleration (6085h)
Homing acceleration (609Ah)
Max acceleration (60C5h)
Max deceleration (60C6h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Operation steps:
1. Set OD 6060h to 06h to set the mode as Homing mode.
2. Set OD 607Ch for the home offset.
3. Set OD 6098h for the homing method.
4. Set OD 6099h sub1 for the speed when searching for the home switch.
5. Set OD 6099h sub2 for the speed when searching for the Z pulse.
6. Set OD 609Ah for the homing acceleration.
7. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 7.1 and 7.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to the OD 6040h description in Section 12.4.3.3.
Step Bit 4
7.1
7.2
7.3
7.4
Homing
function
Speed limit
function
Position
trajectory
generator
Acceleration
limit function
Bit 3 Bit 2 Bit 1
0 0 1
0 0 1
0 1 1
1 1 1
Filter
Position
(2108h)
factor
Position
(2119h to
6093h sub1
211Ch)
6093h sub2
(2124h)
(2144h)
Position
factor
6093h sub2
6093h sub1
Bit 0
1 0 Shutdown.
1 1 Switch on (ready for Servo On).
1 1 Enable operation (Servo On).
1 1 Homing (rising-edge triggered).
Max torque
(6072h)
Speed
Torque
control
control
control loop
loop
loop
Description
CANopen Mode
12
Servo
motor
M
Encoder
12-25