Delta ASDA Series User Manual

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-17
origin. No matter the starting position is S1, S2, or S3, the origin is at position E.
Figure 1.20 Homing Path when Taking Rising Edge Signal as Reference
1.2.2.3 Reference to Z Pulse (P5-04.X=4: move forward directly to look for Z pulse;
P5-04.X=5: move backward directly to look for Z pulse)
Directly regard Z pulse as reference homing position. There is always a Z pulse whenever motor
runs a cycle. This method is applicable when the motor operating distance is within one cycle.
P5-04.Y does not need to be set here.
Figure 1.21 Regard Z Pulse as Original Point
When homing, users can choose whether to let motor look for Z pulse either by moving forward
or backward. When encountering the limit signal, choices of making motor automatically operate
in reverse direction or showing errors are available. In Figure 1.22, after homing, different
starting position (S1 and S2) will lead to different stop positions. However, the origin will be at
position of Z pulse. No matter starting position is S1 or S2, the generated coordinates system
PL Signal
Z Pulse
Y=0, Return to Z
Y=1, Ahead to Z
Y=2,
Do not look for Z
ORG Signal
H
S1
H
H
LL
E
S2
S1
H
L
E
L
S3
H
H
S2
H
H
L
S2
S1
H
L
E
ERR
ERR
ERR
S3
S3

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English