Yaskawa Sigma II Indexer - Manual (Page 144)

Sigma II Indexer User’s Manual Serial Command Functions
6-15
ZRN
Homing Start
Command to start zero-point return (homing) operation as shown below: Command only
used for incremental encoders. Homing routine defined in parameters Pn823-Pn828.
Pos:
OK
Neg:
ExxE
Zero-point Return Method Operation Pattern
Mode 0 (Pn823=0)
None
No homing.
Mode I (Pn823 =1)
3-step deceleration method using
/DEC signal (decel LS) and C-
phase pulse signal
Mode II (Pn823 =2)
2-step deceleration method using
/DEC signal (decel LS) only
Mode III (Pn823 =3)
2-step deceleration method using
C-phase pulse only
Parameter
No.
Name Unit
Pn823 Homing Method
0 = Mode 0 = No homing
1 = Mode I = /DEC and C-Phase
2 = Mode II = /DEC only
3 = Mode III = C-Phase only
Pn824
Zero-point return
direction 0: FWD direction
1: REV direction
Pn825
Zero-point feed-
ing speed
0 to 99999999
x1000 reference unit/
min.
Pn826
Zero-point return
approach speed
0 to 99999999
Pn827
Zero-point return
creep speed
0 to 99999999
Pn828
Zero-point return
final move dis-
tance
-99999999 to +99999999 reference unit
Table 6.6: Moving Command
Serial Command Function / Description Answer