Description Of Homing In Pr Mode - Delta ASDA-M Series User Manual

Chapter 7 Motion Control

7.7 Description of Homing in PR Mode

The aim of homing is to connect the Z pulse position of the motor encoder to the internal
coordinate of the servo drive. The coordinate value of Z pulse can be set by P6-01. After
homing, the stop point will not locate at Z pulse position. It is because the motor has to
decelerate to stop, the deceleration curve will slightly exceed Z pulse. However, the
coordination of Z has been correctly set and will not influence the accuracy of positioning.
For example, the coordinate value corresponded by Z pulse is 100, Cmd_O = 300 after
homing, which means the deceleration distance is 300-100=200 (PUU). Since Cmd_E =
100 (The absolute position of Z), if desiring to return to Z pulse position, issue the absolute
command 100 or incremental command 0 will do. After homing, it can execute PR path
automatically so as to move the desired distance. When it is executing homing, the
software limit cannot work.
7.8 DI/DO Provided by PR Mode and Diagrams
DI signal:
CTRG, SHOM, STP, POS０～5, ORG, PL, NL, EV1~4
DO signal:
CMD OK, MC_OK, TPOS, ALM, CAP_OK, CAM_AREA
System frame:
DI.CTRG
DO.CMD_OK
DO.TPOS
DO.MC_OK
7-16
Command is issuing
DLY
Servo positioning is
completed
PR procedure is
completed
ASDA-M
Revision December, 2014