Delta ASDA-A3 Series User Manual page 201

Motion Control
If you set the motor to not look for the Z pulse, the servo motor first operates at high speed
(first speed setting) and then decelerates to a stop once rising-edge limit signal is triggered.
Then the motor changes to low speed (second speed setting) to look for rising-edge signal.
Once it finds the rising-edge signal, the motor decelerates to a stop, completing the
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homing.
2. Referencing the rising-edge signal of the home sensor. This method uses the rising-edge of
the home sensor (ORG) signal as the reference point. You have the option of using the Z
pulse as the reference point of the origin when the home sensor detects the signal.
The figure above shows an example of reversing to look for the Z pulse. If the home sensor
signal for the start position is un-triggered (low, Start point 1), the servo motor operates at
high speed (first speed setting) until it reaches the rising-edge of ORG signal. Then it
decelerates, switching to low speed (second speed setting) and reverses to look for the Z
pulse. When the motor finds the Z pulse, it decelerates to a stop, completing the homing.
If the ORG signal at the start point is un-triggered and the current position is relatively
closer to the limit switch (Start point 2), then the servo motor operates at high speed (first
speed setting). You can choose whether to show an error or reverse the running direction
when it reaches the limit switch. If you choose to reverse the rotation direction, the servo
motor keeps rotating in reverse direction. Once the motor reaches the limit switch, it
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Motor
Reverse to Z
Start point 1
Go forward to
Z
Start point 1
Do not look
for Z
Start point 1
Z pulse
Limit signal
ORG signal
End Start point 3
Start point 3
End
End Start point 3
Limit
Start point 2
Start point 2
Start point 2
Revision December, 2017
ASDA-A3