Delta ASDA-A3 Series User Manual page 1119

EtherCAT Mode
Sub-index
Description
Data type
13
Access
PDO mapping
Default
Corresponding
servo parameter
Note
Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Object 6098h: Homing method
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
The homing methods include looking for the Z pulse (Methods 1 - 14, 33, 34, 36, 37), not
looking for the Z pulse (Methods 17 - 30), defining the current position as the origin (Method
35), and looking for the hard stop (Methods 36 - 39). Methods 15, 16, 31, and 32 are reserved.
To use Methods 1 to 35, set OD 6098h to 1 to 35. To use Methods 36 to 39, set OD 6098h to
-1 to -4.
Method 1: homing on the negative limit switch and Z pulse
Negative limit
13-74
2
E-Gear ratio denominator
UNSIGNED32
RW
Yes
1
P1.045
For the E-Gear ratio setting, refer to Section 6.2.5.
6098h
Homing method
VAR
INTEGER8
RW
Yes
-4 to 35
0
indicates OD 6099h sub1 1
indicates OD 6099h sub2 2
Z pulse
switch
st
homing speed
nd
homing speed
ASDA-A3
Starting
point
1