Introduction Of Pr Homing; Reference To Limit - Delta ASDA Series Application Notes

Introduction of PR Operation

1.2.2 Introduction of PR Homing

ASDA-A2 provides 9 homing methods in PR mode, such as using home sensor or limit as the
origin. If including the sub-selection such as taking Z pulse and limit as triggering reference, over
30 choices are available. Homing method is defined by P6-00 and value of origin is specified by
P6-01.
Main homing methods supported in PR mode on ASDA-A2 are listed below.
1.2.2.1 Reference to Limit (P5-04.X=0: Move forward to look for positive limit;
P5-04.X=1: Move backward to look for negative limit)
This homing method is to take positive limit or negative limit as the origin. After the limit is
detected, users may consider whether to regard Z pulse as the origin. See Figure 1.17.
If the setting of homing is identical, the origin being found will be exactly the same regardless of
the starting position. See Figure 1.18 for homing path and its codes.
S1: starting position
S2: starting position is at the limit
E: end position
H: motor operating at high speed
L: motor operating at low speed
1-14
Figure 1.17 Regarding Limit Signal as Origin
ASDA Series Application Note
March, 2015