ASDA Series Application Note Application Examples
March, 2015 3-9
Function Parameter Settings for Master Axis (Rectangle Carrier)
Please see Figure 3.1.5 the wiring diagram for I/O settings.
P1-01 Control mode: set to 0x01 in PR Mode.
P1-47 Homing mode: Set to 0x202.
2: Homing in forward direction; DI.ORGP is regarded as the homing origin.
0: Operate in the opposite direction to look for Z pulse of the encoder when homing.
2: Enable homing function via DI.SHOM.
This setting is for the accuracy purpose. (When the ORGP is encountered by the origin, the
motor will return to look for Z pulse.) It is because the positioning precision level of external
ORGP (such as limit switch and approximate sensor) is lower than the internal Z pulse. That is
why Z pulse is regarded as the origin. And this might be the best choice for this type of control.
P1-44 (E-Gear Ratio (Numerator)): Set to 1.
P1-45 (E-Gear Ratio (Denominator)): Set to 1.
To have better resolution, the E-gear ratio doesn’t have to be changed because of the system
decelerator.
P1-16 (1
st
Position Command for Pulse): Set to 1000.
Please refer to section 3.1.2.2 Settings for the route of Master Axis (Rectangle Carrier) of this
application note. As DI.POS0, DI.POS1, and DI.POS2 are set to 0, when DI.CTRG is triggered,
the position command is set by P1-16.
P2-36 Moving Speed Setting of 1
st
Position: Set to 150 rpm, let the motor operate with slower
speed.
Sequence Diagram—Homing of the Master Axis
Z Pulse
Motor
Speed
DI.SHOM
DI.ORGP
Figure 3.1.7 Homing of the Master Axis
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