ASDA-A2 Chapter 7 Motion Control
7-24 Revision February, 2017
11) Homing Definition: P6-00 ~ P6-01, (64 bits) one set of PR.
Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
DW0 BOOT - DLY DEC2 DEC1 ACC PATH
DW1 ORG_DEF (32-bit)
PATH (PR): 0 ~ 3F. (6 bits)
00 (Stop): Homing completed and stops
01 ~ 3F (Auto): Homing completed and executes the specified PR: 1 ~ 63.
Note: PATH (procedure)
ACC: Acceleration time
DEC1/DEC2: The first / second deceleration time
DLY: Delay time
BOOT: Activation mode. When the POWER is ON:
0: will not do homing
1: start homing (Servo ON for the first time)
ORG_DEF: the coordinate value of the origin definition which might not be 0
1) After finding the origin (Sensor or Z), the motor has to decelerate to stop. The stop position will
slightly exceed the origin. After the positioning is completed, users can determine and setup the
motor position:
If not returning to the original point, set PATH to０.
If desire to return to the original point, set PATH to non-zero value and setup that PR:
absolute positioning command＝ORG_DEF.
CMD_O: Command Output Position
CMD_E: Command End Position
2) Homing does not define the offset value but uses PATH to specify a path as the offset value.
After finding the origin, if the user desires to move a short distance of offset S (the related
home Sensor or Z) and set the coordinate to P after moving: (incremental positioning command
= S will do)
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