Delta ASDA-A3 Series, User Manual

Page: 218 / 845

ASDA-A3 Motion Control
7-21
7
P1.088 Torque homing - level reached timer
Address: 01B0H
01B1H
Default: 2000 Control mode: PR
Unit: ms Setting range: 2 to 2000
Format: DEC Data size: 16-bit
Settings:
The setting of the torque level reached timer for the torque homing mode. If the motor torque output
continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is
complete. Refer to P1.087 for the timing diagram of torque homing mode.
As mentioned in Section 7.1.2, the PR mode provides four monitoring variables for you to
monitor the servo commands and feedback status. These are Command position PUU
(Cmd_O), PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and Position
error PUU (Err_PUU). Before homing completes, the command end register (Cmd_E) cannot be
calculated because the coordinate system can only be created after homing is complete, and
the target position remains unknown after the Homing command is issued. This is why the
status of each monitoring variables is different during homing. In Homing command’s default
setting, the contents of Cmd_E and Cmd_O are identical. After the servofinds the reference
origin in the coordinate system, it sets the content of Cmd_E to the coordinate of the reference
origin. However, once it finds the reference origin, it still requires some distance for motor to
decelerate to a stop. Meanwhile, Cmd_O continues to issue commands. If no other PR
commands are issued after homing (other than the Position command), the contents of the final
command position (Cmd_O) and command end position (Cmd_E) will be different. See Figure
7.1.3.1.3.