Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-8
Revision December, 2017
7
7.1.3 Motion Control commands
The ASDA-A3 provides 100 path sets that can include homing methods, speed, position, path
jumping, parameter writing, index positioning, and arithmetic operations. The following sections
detail each command type.
Homing methods
The ASDA-A3 provides 11 homing methods in PR mode. They include home sensor, limit, and
crash point. 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 function of each bit is listed
below.
P5.004 Homing methods
Address: 0508H
0509H
Default: 0x0 Control mode: PR
Unit: - Setting range: 0 – 0x128
Format: HEX Data size: 16-bit
Settings:
Y Z U
X
X Homing method Z Limit setting
Y Z pulse setting U Reserved
Definition of each setting value:
W Z Y X
Reserved Limit setting Z pulse setting Homing method
-
0 – 1 0 – 2 0 – 8
-
Y = 0: return to Z pulse
Y = 1: go forward to
Z pulse
Y = 2: do not look for
Z pulse
X = 0: homing in
forward direction and
define PL as homing
origin
-
X = 1: homing in
reverse direction and
define NL as homing
origin
When encounter limit:
Z = 0: show error
Z = 1: reverse direction
Y = 0: return to Z pulse
Y = 1: go forward to
Z pulse
Y = 2: do not look for
Z pulse
X = 2: homing in
forward direction, ORG:
OFF
 ON as homing
origin
X = 3: homing in
reverse direction, ORG:
OFF

ON as homing
origin
X = 4: look for Z pulse in
forward direction and
define it as homing
origin