Introduction of PR Operation ASDA Series Application Note
1-16 March, 2015
1.2.2.2 Reference to Rising-Edge Signal on Home Sensor (P5-04.X=2: move
forward to look for rising signal on home sensor; P5-04.X=3: move backward
to look for rising signal on home sensor)
This homing method is to take home sensor as reference, regarding rising signal on the home
sensor as homing origin. When home sensor detects the signal, Z pulse can also be set as
reference origin.
Figure 1.19 Reference to Rising-edge Signal of Home Sensor
In Figure 1.19. Y=0, the motor will return in the opposite direction to look for the Z pulse if the
limit signal is encountered before the Z pulse is found. When homing command is issued, the
sensor board is at S1 and has not passed through the home sensor. The motor will operate at
high speed to look for the rising edge signal of ORG, which is the generated signal when the
sensor board triggering home sensor. Then, the motor will return to look for Z signal at low speed.
After finding Z signal, it will decelerate to stop at position E.
When staring at position S2, the motor’s position has gone beyond ORG sensor; this means
when homing command is issued, sensor board has also encountered the home sensor. Sensor
board will firstly encounter the limit signal and meanwhile motor can be set to automatically move
backward or stop and display errors; this is an example of motor moving backward automatically.
After operating in reverse direction and encountering ORG triggering signal at the first time,
motor will switch to low speed because it has encountered the limit signal and moved backward.
As ASDA-A2 acknowledges that this ORG signal is not the origin signal, it will keep running until
encountering the OFF signal of ORG and then starts to look for Z signal. Upon finding Z signal, it
will decelerate to stop at position E.
When the starting position is at S3, the sensor board happens to be at the position of home
sensor. Meanwhile, ASDA-A2 receives the signal of ORG ON, the motor will start looking for Z
signal at the moment it returns and looks for ORG OFF signal. When finding Z signal, the motor
will decelerate to stop at position E.
When executing homing, different starting positions will not influence the result of finding the
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