Delta ASDA-A3 Series User Manual page 202

ASDA-A3
changes to low speed (second speed setting) and operates until the ORG signal switches
to low. Next, it starts 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 is triggered (high, Start point 3), the motor reverses with low speed
(second speed setting) and after the ORG signal switches to low, the motor returns to look
for the Z pulse. Once the Z pulse is found, homing is complete.
If you set the server motor to look for the Z pulse, or not to look for the Z pulse in the
forward direction (this is similar to the first method mentioned above, (going in the reverse
direction or not to look for the pulse Z), Please refer to the timing diagram above.
3. Referencing the Z pulse. This method uses the Z pulse as the reference origin. One Z pulse
is generated per rotation of the motor. This method is only suitable when the operation is
kept within one motor rotation.
Revision December, 2017
Motor
Start point 1
Z pulse
Limit signal
End
Start point 2
End
Motion Control
Limit
7-15
7