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Motion Control

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ASDA-A3

7

4. Referencing the falling-edge of the ORG signal.

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

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

detected.

Limit

Motor

(a) Reverse to Z

Start point 1

End

Start

point 3

Start

point 2

(b) Go forward to Z

Start point 1

Start

point 3

Start End

point 2

(c) Do not look for Z

Start point 1

Z pulse

Limit signal

Start

point 3

End 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 is un-triggered (low, Start point 1), the servo operates at

high speed (first speed setting) until reaching the rising edge of the ORG signal.

Then it decelerates and switches to low speed (second speed setting) until reaching

the falling edge of the ORG signal. Next, the servo reverses to look for the Z pulse.

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

procedure.

7-18

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