Delta ASDA Series User Manual

Introduction of PR Operation ASDA Series Application Note
1-18 March, 2015
after homing will be identical.
Figure 1.22 Homing Path when Taking Z Pulse as Reference
1.2.2.4 Reference to the Falling-Edge Signal on Home Sensor (P5-04.X=6: move
forward to look for the falling edge signal of home sensor; P5-04.X=7: move
backward to look for the falling edge signal of home sensor)
This homing method is to take the falling edge signal of home sensor as reference. After home
sensor has detected the signal, Z pulse can be also regarded as homing origin.
Figure 1.23 Taking the Falling-edge Signal of Home Sensor as Origin Signal
See the example in Figure 1.24. The motor returns and looks for Z. When homing command is
issued, the motor’s position is at S1 and the sensor board has not passed through the home
sensor. At this stage, motor will operate at high speed first; as soon as it encounters the rising
edge signal of ORG sensor, motor will then switch to low speed. When encountering the failing
edge signal of ORG sensor, motor will keep operating at low speed to look for Z pulse; it then
slows down and stops at position E upon finding Z signal.
PL Signal
Z Pulse
Ignore Y
L
E
S1
L
E
L
ERR
S2
Ignore Z
ORG
ON -> OFF
Limit
Stop or
Go back
Go backward to
look for Z
Go forward to
look for Z

Delta ASDA Series Specifications

General

Control Modes	Position, Speed, Torque
Communication Interface	RS-485, CANopen, Modbus
Feedback	Incremental encoder, Absolute encoder
Protection	Overvoltage, Undervoltage, Overcurrent, Overtemperature
Power Supply	Single-phase or three-phase AC
Output Power	50W to 15kW (depending on the specific model within the series)