Yaskawa Sigma II Indexer - Manual (Page 126)

Sigma II Indexer User’s Manual Homing Routine Operation
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5.12 Homing Routine Operation
Use homing routine for incremental encoders only. Homing routines cannot be per-
formed on absolute encoders. Error E61E will occur when trying to home an absolute
encoder.
When changing /HOME to Active, homing starts.
When changing /HOME back to Non-Active, homing is interrupted and status is main-
tained. When changing /HOME back to Active again, homing resumes.
Homing is canceled when jogging forward or reverse with /JOGP or /JOGN, respec-
tively.
Mode I : Pn823=1 Use /DEC and C-Pulse
Mode II: Pn823=2 Use only /DEC
Note: Must see rising edge of /DEC before deceleration to creep speed.
Mode III: Pn823=3 Use only C-Pulse
Figure 5.12 Homing Routines
First C-Pulse after /DEC input active inactive
Pn8
Pn8
Pn8