Introduction of PR Operation ASDA Series Application Note
1-32 March, 2015
Another exception is homing command. The difference between homing and position command
is that Cmd_E does not know where the target position is when homing. Only when reference
origin is found and coordinate system is built can Cmd_E’s position be known. That is, after
homing command is issued and before origin found and coordinate system built, Cmd_E =
Cmd_O. See Figure 1.42.
Cmd_E
Cmd_O
Fb_PUU
Err_PUU
Cmd_E
Cmd_O
Fb_PUU
Err_PUU
Cmd_E
Cmd_O
Fb_PUU
Err_PUU
Cmd_E
Cmd_O
Fb_PUU
Err_PUU
Cmd_E
Cmd_O
Fb_PUU
Err_PUU
Cmd_E = Origin
Before
command
accepted
After
command
accepted
Command
being
executed
Command
finished
Positioning
completely
Cmd_E = Origin
Figure 1.42 Example of Homing
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