Delta ASDA-B3 Series, User Manual

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ASDA-B3 Motion Control
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7
2.
Referencing the rising edge of the ORG signal.
This method uses the rising edge of the home sensor signal as the reference origin.
You can choose whether or not to use the Z pulse as the reference origin after the ORG
signal is detected.
Motor
Z pulse
Start point 1
Limit signal
(a) Reverse to Z
End
Start point 1
(b) Go forward to Z
End
(b) Do not look for Z
Start point 1
End
ORG signal
Limit
Start point 3
Start point 2
Start point 2
Start point 3
Start point 3
Start point 2
(a)
If you set the servo to look for the Z pulse in the reverse direction, when the ORG signal at
the start point is un-triggered (low, Start point 1), the servo operates at high speed (first
speed setting) and then decelerates once it reaches the ORG signal (rising-edge triggered).
Then it switches to low speed (second speed setting) until the ORG signal switches to low.
Next, the servo starts 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.
If the ORG signal at the start point is un-triggered and the current position is relatively closer
to the limit switch (Start point 2), the servo operates at high speed (first speed setting) until
reaching the limit switch. You can set whether to show an error or reverse the operating
direction when it reaches the limit switch. If you set the servo to reverse direction, it operates
in the reverse direction to reach the home sensor (ORG). Once reaching the home sensor
(ORG), the servo decelerates and operates at low speed (second speed setting) until the
ORG signal switches to low. Next, the servo starts to look for the Z pulse. When the servo
finds the Z pulse, it decelerates to a stop, completing the homing procedure.