Delta ASD-A3-0121, Руководство пользователя

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Motion Control ASDA-A3
7-18
Revision December, 2017
7
the reverse direction to look for the Z pulse at low speed (second speed setting). Once the
motor finds the Z pulse, it decelerates to a stop, completing the homing.
If you set it not to look for the Z pulse, the servo motor runs at high speed (first speed
setting) until it touches the collision protector. Then the servo outputs a greater current to
resist the external force. When the motor torque reaches the set limit (P1.087) and the
output duration is longer than the time setting (P1.088), the motor stop stops, completing
the homing.
The following table lists the parameters for the torque limit (P1.087) and the torque limit time
(P1.088
):
P1.087 Torque limit
Address: 01AEH
01AFH
Default:
1
Control mode: PR
Unit: % Setting range: 1 – 300
Format: DEC Data size: 16-bit
Settings:
The Torque limit is only for Torque limit homing mode. As shown in the following diagram, when the
homing command is triggered, the motor runs in one direction until it reaches the collision protector. After
reaching the collision protector, the servo drive outputs a larger motor current to counter the external
force from the collision protector. The servo drive uses the motor current and the Torque limit time to
determine homing, and then it runs in the opposite direction to find the Z pulse.
P1.088 Torque limit time
Address: 01B0H
01B1H
Default:
2000
Control mode: PR
Unit: ms Setting range: 2 – 2000
Format: DEC Data size: 16-bit
Settings:
Set the Torque limit time for Torque limit homing mode. Please refer to P1.087 for the timing diagram of
Torque limit 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 completed, 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 it finds the reference origin in the coordinate
system, it sets the content of Cmd_E to the coordinate of the reference origin. However, once it