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Motion Control

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ASDA-A3

7

(c) If you set the servo to not look for the Z pulse, the servo first operates at high speed

(first speed setting) and then decelerates to a stop once the rising-edge limit signal is

triggered. Then the servo switches to low speed (second speed setting) to look for

the rising-edge signal. Once it finds the rising-edge signal, the servo decelerates to a

stop, completing the homing procedure.

2. Referencing the rising-edge of the ORG signal.

This method uses the rising-edge signal of the home sensor as the reference origin. You

can choose whether to use Z pulse as the reference origin after the ORG signal is

detected.

Limit

Motor

(a) Reverse to Z

End

Start point 1

Start point 3

Start point 2

(b) Go forward to Z

Start point 1

Start point 3

End

Start point 2

End

(c) Do not look for Z

Start point 1

Z pulse

Limit signal

Start point 3

Start point 2

ORG signal

Refer to the preceding figure for examples.

(a) If you set the servo to look for the Z pulse in the reverse direction, when the ORG

signal at the start point is un-triggered (low, Start point 1), the servo operates at high

speed (first speed setting) until reaching the rising-edge of ORG signal. Then it

decelerates, switches to low speed (second speed setting) until the ORG signal

switches to low, and starts looking for the Z pulse in the reverse direction. When the

servo finds the Z pulse, it decelerates to a stop, completing the homing procedure.

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