Delta ASD-A3-0121, User Manual

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ASDA-A3 Motion Control
Revision December, 2017
7-17
7
If you set it to look for the Z pulse or to not to look for the Z pulse in the forward direction,
which is similar to the first setting mentioned above (going in the reverse direction or not to
look for the Z pulse), please refer to the timing diagram above.
5. Referencing the current position as the origin. This method uses the motor‟s current
position as the reference origin. As long as the homing procedure is triggered and the motor
remains still, then coordinate positioning is completed.
Motor
End
DI:0x27 SHOM
6. Referencing the torque limit. This method uses the motor‟s stop position as the origin by
referring to: the limit on the mechanism, the torque level setting (P1.087), and the retaining
time (P1.088). You can also choose whether to use the Z pulse as the origin.
Motor
Start point
Reverse to Z
End
Protector
Do not look
for Z
Start point
End
Torque curve
P1.088
Time
P1.087
Z Pulse
Torque curve
(Look for
collision
point)
P1.087
P1.088
Time
Time
Torque curve
(Look for Z
pulse)
In the figure above that uses looking for the Z pulse, the motor runs at the high speed (first
speed setting). Then the servo outputs a greater current to resist the external force once
the motor touches the collision protector. When the motor torque reaches the set limit
(P1.087) and the output duration is longer than the time setting (P1.088), the motor runs in