Delta ASD-A2-2043 Series - Homing Description of PR Mode

Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-15
7.8 Homing Description of PR Mode
The purpose of homing is to connect the Z pulse position of motor encoder to the internal
coordinate of the servo drive. The coordinate value corresponded by Z pulse can be specified.
After homing is completed, the stopped position will not be the Z pulse. It is because it has to
decelerate to stop when finding the Z pulse. It might therefore exceed a bit. However, since the
position of Z pulse has correctly setup, it would not influence the accuracy of positioning. For
example, when specifying the coordinate value corresponded by Z pulse is 100 and it is Cmd_O =
300 after homing, it means the deceleration distance is 300 – 100 = 200 (PUU). Since Cmd_E =
100 (Z’s absolute coordinate), if desire to return to Z pulse position, issuing the positioning
command will do, absolute 100 command or incremental 0 command.
After homing is completed, it will execute the specified PR automatically, which can move a
distance of offset after homing.
When it is executing homing, software limit is disabled.