Motion Control Commands; Homing Methods - Delta ASDA-B3 Series User Manual

ASDA-B3

7.1.3 Motion Control commands

The servo drive provides 100 path setting sets, which include the Homing methods, Speed
command, Position command, Jump command, Write command, and Rotary Axis Position
command (Index Position). The following sections detail each command type.

7.1.3.1 Homing methods

The servo drive provides 11 homing methods in the PR mode, including home sensor, limit, and
hard stop as the reference origin. They come with sub-selections such as whether to refer to the
Z pulse and the limit signal as the trigger, with more than 30 combinations available. The
homing method is specified by P5.004 and the homing definition is determined by P6.000.
The following lists the function of each bit.
P5.004
Default: 0x0000
Unit: -
Format: HEX
Settings:
X Homing method
Y Z pulse setting
Definition of each setting value:
U
Reserved
When reaching the limit:
Z = 0: show error
-
Z = 1: reverse direction
When reaching the limit:
Z = 0: show error
Z = 1: reverse direction

Homing methods

Z
Limit setting Z pulse setting
0 - 1
-
Y = 0: return to Z pulse
Y = 1: go forward to Z pulse
Y = 2: do not look for Z pulse
Y = 0: return to Z pulse
Y = 1: go forward to Z pulse
Y = 2: do not look for Z pulse
-
Y = 0: return to Z pulse
Y = 2: do not look for Z pulse
Control mode: PR
Setting range: 0x0000 - 0x012A
Data size: 16-bit
Z Limit setting
U Reserved
Y
0 - 2
X = 0: homing in forward direction and define
the positive limit as the homing origin
X = 1: homing in reverse direction and define
the negative limit as the homing origin
X = 2: homing in forward direction, ORG:
OFFON as the homing origin
X = 3: homing in reverse direction, ORG:
OFFON as the homing origin
X = 4: look for Z pulse in forward direction
and define it as the homing origin
-
X = 5: look for Z pulse in reverse direction
and define it as the homing origin
X = 6: homing in forward direction, ORG:
ONOFF as the homing origin
X = 7: homing in reverse direction, ORG:
ONOFF as the homing origin
- X = 8: define current position as the origin
X = 9: torque homing in forward direction
X = A: torque homing in reverse direction
Motion Control
Address: 0508H
0509H
X
Homing method
0 - A
7
7-9