Homing Function Of Pr Mode - Delta ASDA-A2 Series User Manual

Chapter 7 Motion Control Function|ASDA-A2 Series
When position command is
Command
Type
Cmd_E retain unchanged
Cmd_O retain unchanged
Homing
command
DO signal: CMD_OK is OFF
DO signal: HOME is OFF
Cmd_E continuously output
Speed Cmd_O continuously output. After speed command is completed, it indicates that the
command speed reaches the setting value and the motor will not stop.
DO signal: CMD_OK is OFF
Enter Pr at the first time ( Servo Off-> Servo On
or other mode for entering Pr mode)
Note: The incremental position command performs accumulation according to the end of the position
command (Cmd_E). It is irrelevant to current motor position and command timing as well.
7.8

Homing Function of Pr Mode

The homing function determines the homing characteristics of servo motors. The purpose of homing function
is used to connect the position of Z pulse of motor encoder to the internal coordinate of the servo drive. The
coordinate value corresponds to Z pulse can be specified.
After homing operation is completed, the stop position will not locate at the position of Z pulse. This is
because the motor must accelerate to stop when Z pulse is found. Generally, the motor stop position will be
a little ahead of the position of Z pulse. At this time, Z pulse is set correctly so it will not affect the position
precision.
For example, if the coordinate corresponds to Z pulse is set to 100, after homing operation is completed,
Cmd=300. It indicates that the acceleration distance is equal to 300-100=200(PUU). Since Cmd_E=100
(absolute position of Z pulse), if the users want to command the motor to return to the position of Z pulse,
just set absolute position command to 100 or incremental position command to 0.
In Pr mode of ASDA-A2 series, after homing operation, it can execute the specified path and command the
motor to return to the position of Z pulse automatically.
When homing function is executed, the software limit function is disabled.
7-14
given ＝＞
command is executing＝＞
Cmd_E continuously output
Cmd_O continuously output
...
...
Cmd_O = Cmd_E = current motor feedback position
＝＞When position
＝＞ When position
command is completed
Cmd_E = Z pulse (absolute
position)
Cmd_O = position at stop
DO signal: CMD_OK is ON
DO signal: HOME is ON
Revision April, 2010