Delta ASD-A2-0121 Series User Manual page 285

ASDA-A2
11) Homing Definition: P6-00 ~ P6-01, (64 bits) one set of PR.
Bit 31 ~ 28
DW0 BOOT
DW1
PATH (PR): 0 ~ 3F. (6 bits)
00 (Stop): Homing completed and stops
01 ~ 3F (Auto): Homing completed and executes the specified PR: 1 ~ 63.
Note: PATH (procedure)
ACC: Acceleration time
DEC1/DEC2: The first / second deceleration time
DLY: Delay time
BOOT: Activation mode. When the POWER is ON:
0: will not do homing
1: start homing (Servo ON for the first time)
ORG_DEF: the coordinate value of the origin definition which might not be 0
1) After finding the origin (Sensor or Z), the motor has to decelerate to stop. The stop position will
slightly exceed the origin. After the positioning is completed, users can determine and setup the
motor position:
Speed
If not returning to the original point, set PATH to０.
If desiring to return to the original point, set PATH to non-zero value and setup that PR:
absolute positioning command＝ORG_DEF.
CMD_O: Command Output Position
CMD_E: Command End Position
2) Homing does not define the offset value but uses PATH to specify a path as the offset value.
After finding the origin, if the user desires to move a short distance of offset S (relative to the
home Sensor or Z) and set the coordinate to P after moving: set PATH to non-zero value, set
7-24
27 ~ 24 23 ~ 20
- DLY
Homing command is
Position
Home sensor or Z
pulse, ORG_DEF
19 ~ 16 15 ~ 12
DEC2 DEC1
ORG_DEF (32-bit)
executed
Return to
home
CMD_E
Chapter 7 Motion Control
11 ~ 8 7 ~ 6
ACC Reserved
Motor stop
position after
homing
Absolute
position
coordinate
CMD_O
5 ~ 0
PATH