Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 Motion Control
7-37
7
Homing methods
In the display of homing methods, PR#0 always signifies the homing procedure, which is
marked as “Homing”. See Figure 7.1.4.2.
PR#0 (B)
Homing
0:PL Z
Offset = 0
PR#1
Speed1 = 100
Speed2 = 20
(1)
(2)
(3)
(4)
(5)
(6)
Figure 7.1.4.2 Homing methods display
(1)
Activation mode (Boot): to execute homing when the drive is in Servo On state, it displays
(B); if homing is not required, no information is displayed.
(2)
Method selection: homing methods and Z pulse setting are shown in the following table.
Characters in red indicate the motor’s position after homing; F signifies running forward;
R signifies running in reverse; ORG signifies the origin; CUR signifies the current position;
BUMP signifies the hard stop.
Homing method
Y = 0: reverse to look
for Z pulse
Y = 1: go forward to
look for Z pulse
Y = 2: do not look for
Z pulse
X = 0: homing in forward direction and use PL as the
homing origin
0: PLZ 0: PL
X = 1: homing in reverse direction with NL as the
homing origin
1: NLZ 1: NL
X = 2: homing in forward direction with ORG (when it
switches from off to on state) as the homing origin
2: F_ORGZ 2: F_ORG
X = 3: homing in reverse direction with ORG (when it
switches from off to on state) as the homing origin
3: R_ORGZ 3: R_ORG
X = 4: look for the Z pulse in forward direction with it
as the homing origin
4: F_Z
X = 5: look for the Z pulse in reverse direction with it
as the homing origin
5: R_Z
X = 6: homing in forward direction with the ORG (when
it switches from on to off state) as the homing origin
6: F_ORGZ 6: F_ORG
X = 7: homing in reverse direction with ORG (when it
switches from on to off state) as the homing origin
7: R_ORGZ 7: R_ORG
X = 8: define current position as the origin 8: CUR
X = 9: Torque homing in forward direction 9: F_BUMPZ 9: F_BUMP
X = A: Torque homing in reverse direction A: R_BUMPZ A: R_BUMP
(3)
Offset: origin offset, P6.001.
(4)
Path: next PR path to be executed after homing.
(5)
Homing at high speed: first homing speed, P5.005.
(6)
Homing at low speed: second homing speed, P5.006.