Delta AS Series Programming Manual page 731

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Note 1: The specified homing behavior may not be realized if the input points for the selected mode are not used
together with the settings in HWCONFIG.
Note 2: Mode 1~4
FW V1.02.00: after the execution of this instruction, the current output position of the axis will not be cleared to zero.
You need to use the instruction PUSTAT to clear it.
FW V1.02.10 or later: after the execution of this instruction, the current output position of the axis will be cleared to
zero automatically.
Note 3: Mode 5~8
V1.02.00: after the execution of this instruction, the current output position of the axis will not be cleared to zero. You
need to use Mode 255 to modify the current output position to clear it.
V1.02.10 or later: after the execution of this instruction, the current output position of the axis will be cleared to zero
automatically.
5.
TarSpeed sets the maximum output frequency for the homing when the mode value is set from 1 to 8. The setting
value is a signed 32-bit value. The negative and positive signs indicate the initial direction of homing.
The corresponding values in TarSpeed for the modules AS02/04PU are listed below.
Module Name
AS02PU
_6
AS04PU
If the mode is 255, the value in TarSpeed is updated as the current output position of the PU module.
6.
JogSpeed is the jog frequency for reaching the home position. The setting value is a signed 16 bit value within the
range of 1~10,000 (Hz).
7.
When the specified operation is complete during the execution of the instruction, the Done flag changes to ON. The
Done flag need to be cleared manually. The instruction sets the completion flag to ON only when the output is
completed.
8.
If any error occurs as the instruction is in process of the output, the Error flag changes to ON. Refer to the error
codes that ErrCode shows for the trouble shooting.
9.
The error codes that ErrCode shows are listed in the following table.
Error code
16#1400
16#1401
16#1402
6-452
TarSpeed Setting Range when the mode is between 1 to 8.
-200,000 (-200K) ~ 200,000 (200K)
-100,000 (-100K) ~ 100,000 (100K)
The module does not support the function.
The data stored in the module is illegal or exceeds the allowed range.
There is no response from the module; communication timeout occurs.
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