Delta ASDA-A3 Series User Manual page 203

Motion Control
4. Referencing the falling-edge of the ORG signal. This method uses the falling-edge signal of
the home sensor as the reference origin. You can choose whether or not to use Z pulse as
the reference origin after the ORG signal is detected.
7
See the above example of looking for the Z pulse. If ORG signal is un-triggered at the start
point (low, Start point 1), the servo motor runs at high speed (first speed setting) until
reaching the rising edge of the ORG signal. Then it decelerates and switches to low speed
until the ORG signal is off (low). Next, it reverses to look for the Z pulse and decelerates to
a stop once it finds the Z pulse, completing the homing.
If ORG signal is un-triggered at the start point and is closer to the limit switch (Start point 2),
the motor runs at high speed (first speed setting). You can set whether to show an error or
reverse the running direction when it reaches the limit switch. If you set it to reverse
direction, the motor operates in reverse to reach the ORG signal. Once it reaches the ORG
signal, it decelerates and runs at low speed (second speed setting) until it reaches the
falling edge of ORG signal. Then it reverses to look for Z pulse. When found, the servo
decelerates to a stop, completing the homing.
If the ORG signal is triggered at the start point (high, Start point 3), the servo motor
operates at low speed (second speed setting) in the forward direction until the ORG signal
switches to low. Finally, the motor reverses to look for the Z pulse and decelerates to a stop,
completing the homing.
7-16
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
Start
point 2
point 3
Start Start
point 3 point 2
Start Start
End
point 3 point 2
ASDA-A3
Limit
End
Revision December, 2017