Delta ASDA-A3 Series User Manual page 200

ASDA-A3
The following describes the homing methods supported by the ASDA-A3. They can be
categorized into six types based on their reference points.
1. Referencing the limit: this homing method uses the positive or negative limit as the
reference point. When the limit is detected, you can choose to look for the Z pulse and use
it as the homing reference point. Changing the starting position does not change the
searching result. The ASDA-A3 always looks for the setting reference point so as to
correctly reset the coordinates.
Motor
Reverse to Z
Go forward to
Do not look
Limit signal
In the example above (looking for the Z pulse), the servo motor operates at high speed (first
speed value) and then decelerates once it reaches the limit (rising-edge triggers the signal).
Then the motor switches to low speed (second speed value) to look for the Z pulse. When
the motor finds the Z pulse, it decelerates and stops, completing the homing procedure.
If you set the motor to look for the Z pulse and the limit signal remains un-triggered (low,
Start point 1), the servo motor operates at high speed (first speed setting) and then
decelerates once it reaches the limit (rising-edge triggers the signal). Then the motor
switches to low speed (second speed setting) to look for the Z pulse. When the motor finds
the Z pulse, it decelerates and stops, completing the homing procedure. If the setting is to
look for the Z pulse and the limit signal is triggered (high, Start point 2), the servo motor
returns to look for the rising-edge trigger signal at low speed (second speed setting). Once
it is found, the servo motor starts to look for the Z pulse and decelerates to stop when it
finds the Z pulse., completing the homing. In conclusion, the origin is at the same position
after homing with the same condition regardless of the location of the starting point.
Revision December, 2017
Start point
Z
Start point 1
for Z
Start point
Z pulse
Limit
End
End
End
Motion Control
Start point 2
7-13
7