Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-36
Revision December, 2017
7
Homing methods
In the display of homing methods, PR#0 always signifies the homing procedure, which is marked
as “Homing”. See Figure 7.1.4.2.
PR#0 (B)
Homing
0:PL Z
Offset=0
PR#1
Speed1=100
Speed2=20
(1)
(2)
(3)
(4)
(5)
(6)
Figure 7.1.4.2 Homing methods display
(1) Activation mode (Boot): to execute homing when the drive is in Servo On state, it displays
(B); if homing is not required, then no information is displayed.
(2) Method selection: homing methods and Z pulse setting are shown in the table below.
Characters in red indicate the motor‟s position after homing; F signifies running forward; R
signifies running in reverse; ORG signifies origin; CUR signifies current position; BUMP
represents the collision point.
Homing methods
Y = 0: reverse to look for Z
pulse
Y = 1: go forward to look
for Z pulse
Y = 2: do not
look for
Z pulse
X = 0: homing in forward direction with PL as
the homing origin
0: PLZ 0: PL
X = 1: homing in reverse direction with NL as
the homing origin
1: NLZ 1: NL
X = 2: homing in forward direction with ORG
(when it switches from off to on state) as the
homing origin
2: F_ORGZ 2: F_ORG
X = 3: homing in reverse direction with ORG
(when it switches from off to on state) as the
homing origin
3: R_ORGZ 3: R_ORG
X = 4: look for the Z pulse in forward direction
with it as the homing origin
4: F_Z
X = 5: look for the Z pulse in reverse direction
with it as the homing origin
5: R_Z
X = 6: homing in forward direction with ORG
(when it switches from on to off state) as the
homing origin
6: F_ORGZ 6: F_ORG
X = 7: homing in reverse direction with ORG
(when it switches from on to off state) as the
homing origin
7: R_ORGZ 7: R_ORG
X = 8: use the current point as the origin
8: CUR
X = 9: look for collision point in forward
direction and use it as the origin
9: F_BUMPZ 9: F_BUMP
X = A: look for collision point in reverse
direction and use it as the origin
A: R_BUMPZ A: R_BUMP
(3) Offset: origin offset, P6.001
(4) Path: next PR path to be executed after homing
(5) Homing at high speed: first homing speed, P5.005.
(6) Homing at low speed: second homing speed, P5.006.