Send Quote Requests to info@automatedpt.com
ASDA-A3
Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
CANopen Mode
12.3.3 Homing mode
After homing is complete, the position system of the servo drive is established and the drive can
start executing the position command issued by the controller. The Delta A3 servo drive offers
39 homing methods, including homing on the home switch, positive or negative limit,
12
motor Z pulse, and hard stop.
Homing method (6098h)
Home offset (607Ch)
Homing
function
Homing speeds (6099h)
Max profile velocity (607Fh)
Speed limit
function
Quick stop deceleration (6085h)
Homing acceleration (609Ah)
Max acceleration (60C5h)
Acceleration
limit function
Max deceleration (60C6h)
Position
trajectory
generator
Position
factor
6093h sub1
6093h sub2
Filter
(2108h)
(2119h to
211Ch)
(2124h)
(2144h)
Max torque
(6072h)
Position
control
loop
Speed
control
loop
Torque
control loop
Servo
motor
Torque actual value (6077h)
Velocity actual value (606Ch)
M
Encoder
Position actual value (6064h)
Position
factor
6093h sub2
6093h sub1
Operation steps:
1. Set OD 6060h to 06h to set the mode as Homing mode.
2. Set OD 607Ch for the home offset.
3. Set OD 6098h for the homing method.
4. Set OD 6099h sub1 for the speed when searching for the home switch.
5. Set OD 6099h sub2 for the speed when searching for the Z pulse.
6. Set OD 609Ah for the homing acceleration.
7. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 7.1 and 7.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to the OD 6040h description in Section 12.4.3.3.
Step
7.1
7.2
7.3
7.4
Bit 4
0
0
0
1
Bit 3
0
0
1
1
Bit 2
1
1
1
1
Bit 1
1
1
1
1
Bit 0
0
1
1
1
Description
Shutdown.
Switch on (ready for Servo On).
Enable operation (Servo On).
Homing (rising-edge triggered).
Send Quote Requests to info@automatedpt.com
Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
12-25