ASDA Series Application Note Introduction of PR Operation origin. No matter the starting position is S1, S2, or S3, the origin is at position E. H H Y=0, Return to Z ERR Y=1, Ahead to Z ERR Y=2, Do not look for Z ERR Z Pulse PL Signal ORG Signal Figure 1.20 Homing Path when Taking Rising Edge Signal as Reference 1.2.2.3 Reference to Z Pulse (P5-04.X=4: move forward directly to look for Z pulse; P5-04.X=5: move backward directly to look for Z pulse) Directly regard Z pulse as reference homing position. There is always a Z pulse whenever motor runs a cycle. This method is applicable when the motor operating distance is within one cycle. P5-04.Y does not need to be set here.
Figure 1.21 Regard Z Pulse as Original Point When homing, users can choose whether to let motor look for Z pulse either by moving forward or backward. When encountering the limit signal, choices of making motor automatically operate in reverse direction or showing errors are available. In Figure 1.22, after homing, different starting position (S1 and S2) will lead to different stop positions. However, the origin will be at position of Z pulse. No matter starting position is S1 or S2, the generated coordinates system March, 2015 1-17 Z E S3 S1 H L L S3 S2 H H L S1 H Z L E S2 H H S3 E S1 l L L S2 H