Yaskawa MotionWorks+ Windows Software - Manual (Page 148)

Block Reference MotionWorks+™
142
3.2.9 HOME AXIS
Definition
This block locates the home position within the positioning range. This block moves the
servo in search of the home input at a motion profile as specified by the properties of this
block. The home input can be either physical or virtual, meaning the home input can be
forced on by using a bit type variable. This is useful when homing only to the “C”
channel is required. If a timeout value is specified, the program counter advances to the
block connected to the false port if the home routine has not been completed or the
timeout value has elapsed.
Properties
Acceleration: The acceleration rate of the servo in user units/s
2
.
Approach Velocity:
The speed at which the servo travels in user units/s while seek-
ing the home input.
Creep Velocity: The speed at which the servo travels in user units/s while seek-
ing the “C” channel.
Deceleration: The deceleration rate of the servo in user units/s
2
.
Home Switch Input:
The physical or virtual input that causes deceleration and seek-
ing of the “C” channel, or index pulse.
Homing Direction:The direction of travel while seeking the home input.
Property Default
Minimum
Value
Maximum
Value
Base Units
Run
Time
Acceleration N/A 32767 0 ms to rated speed Yes
Approach Velocity N/A -200.00 200.00 % of rated speed Yes
Creep Velocity N/A -200.00 200.00 % of rated speed Yes
Deceleration N/A 32767 0 ms from rated speed Yes
Home Switch Input N/A N/A N/A Discrete input or bit variable No
Homing Direction Positive Negative Positive N/A No
Timeout 0 0 32767 Seconds Yes