Delta ASDA-B3 Series, User Manual

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Motion Control ASDA-B3
7-14
7
(a)
If you set the servo to look for the Z pulse in the reverse direction, the servo operates
at high speed (first speed setting) and then decelerates once it reaches the limit
(rising-edge triggered). Then the servo switches to low speed (second speed setting)
to look for the Z pulse in the reverse direction. When the servo finds the Z pulse,
it decelerates to a stop, completing the homing procedure.
(b)
If you set the servo to look for the Z pulse in the forward direction and the limit signal
at the start position is un-triggered (low, Start point 1), the servo operates at high
speed (first speed setting) and then decelerates once it reaches the limit (rising-edge
triggered). Then the servo switches to low speed (second speed setting) to look for
the Z pulse in the forward direction. When the servo finds the Z pulse, it decelerates
to a stop, completing the homing procedure.
If you set the servo to look for the Z pulse in the forward direction and the limit signal
at the start position is triggered (high, Start point 2), the servo operates at low speed
(second speed setting) in the reverse direction to look for the rising-edge limit signal.
Then the servo starts to look for the Z pulse in the forward direction once it reaches
the limit (rising-edge triggered). When the servo finds the Z pulse, it decelerates to a
stop, completing the homing procedure.
From the examples, regardless of the start positions, the origin position after homing
is the same under the same setting condition.
(c)
If you set the servo to not look for the Z pulse, it first operates at high speed (first speed
setting) and then decelerates once reaching the rising-edge limit signal. Then the servo
switches to low speed (second speed setting) and returns to look for the rising-edge
signal. Once the servo finds the rising-edge signal, it decelerates to a stop, completing
the homing procedure.