Delta ASDA Series User Manual

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-21
The position where motor
stops after homing.
PL Signal
Z Pulse
H
L
Y=0，
Searching Z
E
S1
0
Coordinate after
homing.
-1000
1000
-2000
-3000
-523
PR#1
Figure 1.26 Positions of Motor and Homing Origin
PR homing mode of ASDA-A2 can regard any value in the coordinate system as homing origin;
position 0 does not necessary to be the homing origin. By confirming the homing reference origin,
the coordinate system can be established. Take Figure 1.27 for example, the origin reference is
2000 (P6-01=2000) and motor stops at 1477 on the coordinates. As the coordinate system has
been built and acknowledge where 0 is, the next step is to issue PR motion commands. Then,
ASDA-A2 is able to figure out the path of target position.
PL Signal
Z Pulse
H
L
Y=0，Search for Z
E
S1
Coordinate after homing
1477
The position where motor
stops after homing.
0
2000
1000
3000
-1000
5000
4000
Figure 1.27 Defined Value of Homing Reference Origin

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)