Delta AX-3 Series, Руководство по эксплуатации

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A X - 3 S e r i e s O p e r a t i o n M a n u a l
7 - 1 4 2
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If a quick stop is performed by MC_Stop during execution of MC_MoveAbsolute, MC_MoveAbsolute would be
aborted and be in Stopping state.
//MC_MoveAbsolute & MC_Stop
MC_MoveAbsolute_0(
Axis:= SM_Drive_Virtual,
Execute:= MC_MoveAbsolute0_Execute,
Position:= 10000.0,
Velocity:= 500.0,
Acceleration:= 500.0,
Deceleration:= 500.0,
Jerk:= ,
Direction:= MC_DIRECTION.positive,
Done=> ,
Busy=> ,
CommandAborted=> ,
Error=> ,
ErrorID=>);
MC_Stop_0(
Axis:= SM_Drive_Virtual,
Execute:= StopOn,
Deceleration:= 5000.0,
Jerk:= ,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=>);
7.8.2.5 Home Positioning
Use homing instruction in the the following example to let you understand how to perform the homing operation.
Currently, a total of 36 homing modes (0~35) are supported and the OD is 6098(Homing method)
/6099sub1(Speed during search for switch) /6099sub2(Speed during search for zero). For more details, please
refer to Delta High Resolution AC Servo Drive ASDA-A2 Series User Manual.
For the following example, specify the parameters of OD as mentioned above after adding A2-E sevo in EtherCAT
Slave.
Choose mode 33 for Homing Method (Perform homing operation once meet the first Z pulse.)
Speed during search for switch =1000 (Unit: 0.1rpm) (Search for limit switch at the speed of 100rmp.)
Speed during search for zero =100 (Unit: 0.1rpm) (Search for zero at the speed of 10rmp.)
After settings are completed, the homing method for executing MC_Home with LD/ ST language would be
corresponding to the one specified as above.