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Motion Control
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ASDA-A3
7
The PR Homing mode includes the function for setting the origin offset. You can define any point
on the coordinate axis as the reference origin, which does not have to be 0. Once you define
the reference origin, the system can create the coordinate system for the motion axis. See
Figure 7.1.3.1.1. The coordinate of the reference origin is 2000 (P6.001 = 2000). The motor
passes by the reference origin and then stops at coordinate 1477. From the coordinate system
that it created, the system automatically calculates the position of 0 point. As soon as the PR
motion command is issued, the motor moves to the specified position.
P6.001: Origin definition
Coordinates
(after homing)
Origin 2000
0 - 1000
1000
3000 4000 5000
Motor position
(after homing)
1477
H
Reverse to Z
S1
E
L
Z pulse
PL signal
Reference
origin
Figure 7.1.3.1.1 Origin definition
P6.001
Origin definition
Default: 0
Control mode: PR
Address: 0602H
0603H
Unit: -
Format: DEC
Setting range: -2147483648 to +2147483647
Data size: 32-bit
Settings:
Origin definition.
The servo starts the homing procedure at high speed to seek the reference point (such as the limit switch
and ORG signal), which takes shorter time. Once the servo detects the reference point, the motor runs at
low speed to find the reference point accurately (such as the Z pulse). The speeds for the two stages are
defined by P5.005 and P5.006.
7-12
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