Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 EtherCAT Mode
12-33
12
12.3.4 Homing Mode
After homing is complete, the coordinate system of the servo drive is established and the drive
can start executing the position command issued by the controller. Delta servo drives offer
35 Homing Modes, including finding the home switch, positive and negative limits, and motor
Z pulse.
Position
limit
function
Max profile velocity
(607Fh)
Speed
limit
function
Position
trajectory
generator
E-Gear ratio
6093h sub1
6093h sub2
Filter
(2108h)
(2119h -
211Ch)
(2124h)
(2144h)
Position
control
loop
Speed
control
loop
Torque
control
loop
Max torque
(6072h)
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Encoder
Servo
motor
M
Acceleration
limit function
Quick stop deceleration
(6085h)
Torque actual value (6077h)
Velocity actual value (606Ch)
E-Gear ratio
6093h sub2
6093h sub1
Position actual value (6064h)
Position window (2136h)
Position
window
comparator
Target reached (6041h Bit 10)
Following error actual value (60F4h)
Following
error
comparator
Following error window (6065h)
Servo alarm AL009 (2001h)
Position demand
value (60FCh)
Position demand
value (6062h)
-
+
+
-
+
+
Target position
(607Ah)
Software position
limit (607Dh)
Position offset
(60B0h)
Controlword (6040h)
Torque
offset
(60B2h)
+
+
Velocity
offset
(60B1h)
+
Operation steps:
1.
Set OD 6060h to 06h to set the mode as Homing Mode.
2.
Set OD 607Ch for the home offset.
3.
Set OD 6098h for the homing method.
4.
Set OD 6099h sub1 for the speed when searching for the home switch.
5.
Set OD 6099h sub2 for the speed when searching for the Z pulse.
6.
Set OD 609Ah for the homing acceleration / deceleration time.
7.
Set OD 6040h for the control command. Follow these steps. Steps 7.1 and 7.2 are to bring
the servo drive's state machine into the ready state. For more details of the state machine,
refer to the description for OD 6040h in Section 12.4.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
7.1 0 0 1 1 0 Shutdown.
7.2 0 0 1 1 1 Switch on (ready for Servo On).
7.3 0 1 1 1 1 Enable operation (Servo On).
7.4 1 1 1 1 1
Command triggered (rising-edge
triggered)