Delta ASDA-A3 Series User Manual page 217

Motion Control
external force once the motor touches the protector. When the motor torque reaches the
torque detection level (P1.087) and the output duration is longer than the level reached
timer setting (P1.088), the motor runs in 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,
7
completing the homing. If you set the servo not to look for the Z pulse, the servo motor
runs at high speed (first speed setting) until it touches the protector. Then the servo
outputs a greater current to counter the external force. When the motor torque reaches the
torque detection level (P1.087) and the output duration is longer than the level reached
timer setting (P1.088), the motor stop stops, completing the homing. Pay special attention
when executing the Torque homing procedure. The motor's actual maximum torque output
is 10% greater than the maximum torque limit setting (P1.087), the great impact may
cause damage to the machine.
The settings and descriptions for the torque level detection (P1.087) and level reached timer
(P1.088) are as follows.
P1.087
Default: 1
Format: DEC
Settings:
This setting is only for the Torque homing mode. As shown in the following figure, after homing is
triggered, the motor runs in one direction and reaches the protector. The servo drive then outputs a
larger motor current in order to counter the external force. The servo drive uses P1.087 and P1.088 as
the check conditions for homing. Since the hard stops are not always the same, it is recommended to
return to find the Z pulse as the origin.
Note: the actual maximum torque output of the motor is 10% greater than the detected torque level
(P1.087). For example: set P1.087 to 50%, then the maximum torque output of the motor is 60%.
7-20
Torque homing - torque level detection
Unit: %
Protector
Torque level
10%
detection P1.087
Torque curve when
searching for the
hard stop
Torque curve
when searching for
Z pulse
Z pulse
Control mode: PR
Setting range: 1 - 300
Data size: 16-bit
Level reached timer P1.088
Maximum torque output
Starting point
ASDA-A3
Address: 01AEH
01AFH