Delta ASDA-A3 Series User Manual page 205

Motion Control
the reverse direction to look for the Z pulse at low speed (second speed setting). Once the
motor finds the Z pulse, it decelerates to a stop, completing the homing.
If you set it not to look for the Z pulse, the servo motor runs at high speed (first speed
7
setting) until it touches the collision protector. Then the servo outputs a greater current to
resist the external force. When the motor torque reaches the set limit (P1.087) and the
output duration is longer than the time setting (P1.088), the motor stop stops, completing
the homing.
The following table lists the parameters for the torque limit (P1.087) and the torque limit time
):
(P1.088
P1.087
Default:
Unit:
Format:
Settings:
The Torque limit is only for Torque limit homing mode. As shown in the following diagram, when the
homing command is triggered, the motor runs in one direction until it reaches the collision protector. After
reaching the collision protector, the servo drive outputs a larger motor current to counter the external
force from the collision protector. The servo drive uses the motor current and the Torque limit time to
determine homing, and then it runs in the opposite direction to find the Z pulse.
P1.088
Default:
Unit:
Format:
Settings:
Set the Torque limit time for Torque limit homing mode. Please refer to P1.087 for the timing diagram of
Torque limit homing mode.
As mentioned in Section 7.1.2, the PR mode provides four monitoring variables for you to
monitor the servo commands and feedback status. These are Command position PUU (Cmd_O),
PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and Position error PUU
(Err_PUU). Before homing completes, the command end register (Cmd_E) cannot be calculated
because the coordinate system can only be created after homing is completed, and the target
position remains unknown after the Homing command is issued. This is why the status of each
monitoring variables is different during homing. In Homing command‟s default setting, the
contents of Cmd_E and Cmd_O are identical. After it finds the reference origin in the coordinate
system, it sets the content of Cmd_E to the coordinate of the reference origin. However, once it
7-18
Torque limit
1
%
DEC
Torque limit time
2000
ms
DEC
Control mode: PR
Setting range: 1 – 300
Data size: 16-bit
Control mode: PR
Setting range: 2 – 2000
Data size: 16-bit
ASDA-A3
Address: 01AEH
01AFH
Address: 01B0H
01B1H
Revision December, 2017