Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Motion Control
Revision December, 2017
7-13
7
The following describes the homing methods supported by the ASDA-A3. They can be
categorized into six types based on their reference points.
1. Referencing the limit: this homing method uses the positive or negative limit as the
reference point. When the limit is detected, you can choose to look for the Z pulse and use
it as the homing reference point. Changing the starting position does not change the
searching result. The ASDA-A3 always looks for the setting reference point so as to
correctly reset the coordinates.
Motor
Z pulse
Start point
Limit signal
Reverse to Z
End
Start point 1
Go forward to
Z
End
Start point 2
Do not look
for Z
Start point
End
Limit
In the example above (looking for the Z pulse), the servo motor operates at high speed (first
speed value) and then decelerates once it reaches the limit (rising-edge triggers the signal).
Then the motor switches to low speed (second speed value) to look for the Z pulse. When
the motor finds the Z pulse, it decelerates and stops, completing the homing procedure.
If you set the motor to look for the Z pulse and the limit signal remains un-triggered (low,
Start point 1), the servo motor operates at high speed (first speed setting) and then
decelerates once it reaches the limit (rising-edge triggers the signal). Then the motor
switches to low speed (second speed setting) to look for the Z pulse. When the motor finds
the Z pulse, it decelerates and stops, completing the homing procedure. If the setting is to
look for the Z pulse and the limit signal is triggered (high, Start point 2), the servo motor
returns to look for the rising-edge trigger signal at low speed (second speed setting). Once
it is found, the servo motor starts to look for the Z pulse and decelerates to stop when it
finds the Z pulse., completing the homing. In conclusion, the origin is at the same position
after homing with the same condition regardless of the location of the starting point.