Yaskawa LEGEND-MC - Manual (Page 132)

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LEGEND-MC User’s Manual
HM (Home)
[Motion]
DESCRIPTION:
The HM command performs a three-stage homing sequence.
The first stage is the motor moving at the user programmed speed until detecting a transition on the Home
input. The direction for this first stage is determined by the initial state of the Home input. Once the Home
input changes, the motor decelerates to a stop. The state of the Home input can be configured using the CN
command.
The second stage consists of the motor changing directions and slowly approaching the transition again.
When the transition is detected, the motor is stopped instantaneously.
The third stage consists of the motor slowly moving forward until it detects an index pulse from the encoder.
It stops at this point and defines it as position 0.
ARGUMENTS: HM XYZW or ABCDEFGH
USAGE:
OPERAND USAGE:
_HMn contains the state of the Home input. Regardless of the limit switch polarity, where n is an axis letter,
0 always means the home input is active, 1 means inactive.
RELATED COMMANDS:
EXAMPLES:
NOTE: You can customize homing sequence by using the FE (Find Home Sensor only) and FI (Find Index only) com-
mands.
While Moving No Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Can be Interrogated No
Used as an Operand Yes Distributed Control Specific Axis
"CN" Configure Home
"FI" Find Index Only
"FE" Find Home Only
HM Set Homing Mode
BG Begin Homing