Yaskawa MP2000 - Manual (Page 44)

TECHNICAL NOTE
Function Block Operation Notes
• This is not valid for Absolute Encoder application, only for Incremental encoder.
• Rising edge of EXECUTE input initiates block operation, and all block input
values are read once.
• To use the function block, the EXECUTE bit must be held ON. If the Execute bit
goes off during operation, all outputs will be set to zero and axis will remain in
whatever state it was in when the Execute bit went low.
• The
RUNNING
output bit will be held high until homing is completed or an Error
occurs.
• The motor will move at TRVSPD (speed of the rapid feed) to find the falling edge
of the home switch input (DEC signal, the input to CN1 connector/DEC) when the
TYPE input (home position return method) is “0" (DEC+C phase pulse). The
rotation direction is selected by the REVERSE input. The searching motion
decelerates to APRSPD (approach speed) when the falling edge of the DEC
signal is detected, and decelerates to CRPSPD (creep speed) with the rising
edge of the C phase pulse. OFFSET distance (final distance) is advanced from
C phase pulse and the position is set to the OFFSET value.
• When the home process is completed, the DONE bit will turn ON and the
RUNNING
bit will turn OFF. If the time limit defined by TIMELIM expires before
the homing process is completed, a block Error is generated.
• Eleven words are used as working registers for this function, starting at the
address in Data11W.
File: MP2000_IndividualFunctionDocument_RevC 44/168
Doc Number: eng.MCD.05.101
11/17/2005