P6.Xxx Pr Parameters - Delta ASDA-B3 Series User Manual

Parameters

P6.xxx PR parameters

P6.000
8
Default: 0x00000000
Format: HEX
Settings:
A
B
C
D

YX: PATH: path type
0x00: Stop: the servo stops after homing is complete
0x01 - 0x63: Auto: the servo executes the specified path (Path 1 - Path 99) after homing is
complete

Z: ACC: select 0 - F for acceleration time
0 - F: correspond to P5.020 - P5.035

U: DEC1: deceleration time selection for first homing
0 - F: correspond to P5.020 - P5.035

A: DEC2: deceleration time selection for second homing
0 - F: correspond to P5.020 - P5.035

B: DLY: select 0 - F for delay time
0 - F: correspond to P5.040 - P5.055

D: BOOT: whether to execute homing automatically when the drive is powered on
0: do not execute homing
1: execute homing automatically (servo switches to on for the first time after power is applied)
Apart from the preceding definitions, the related settings for homing also include:
P5.004: homing methods.
1.
P5.005 - P5.006: speed settings for homing.
2.
P6.001: the origin definition (ORG_DEF) is the position of the origin and may not be 0. This
3.
function is used as a traversal of the position system.
Note:
After finding the origin (sensor or Z), the servo has to decelerate to a stop. The stop position exceeds the origin
1.
by a short distance:
If returning to the origin is not needed, set PATH to 0x00.
If returning to the origin is needed, set PATH to 0x01 to 0x63 and set the route as PABS = 0.
8-146
Homing definition
Unit: -
High word
DEC2: deceleration time selection for
second homing
DLY: select 0 - F for delay time
Reserved
BOOT: whether to execute homing
automatically when the drive is powered on
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFF6F
Data size: 32-bit
Low word
YX PATH: path type
Z ACC: select 0 - F for acceleration time
DEC1: deceleration time selection for first
U
homing
- -
ASDA-B3
Address: 0600H
0601H