Yaskawa Sigma FSP - Manual (Page 5)

Subject: Technical Note Product: Sigma FSP Doc#: TN.MCD.06.059
Title: Sigma FSP – How to Demo
January 8, 2007 Page 5 of 6
Digital Input 1 – Homing
The homing routine is executed after Digital Input 1 is toggled on. After engaged, the motor will rotate forward
until it locates the C-channel, and then the motor will move to a home offset position. The home offset distance
is programmed into Var_02 in line 4 of the demo program.
1. Verify that all digital input switches are off (down)
2. Turn on SI1 to begin homing routine
3. Servo will home to the C-channel, and then perform a home offset move
4. Adjust Var_02 in the program to modify the home offset as desired
5. Turn off SI1
Digital Input 2 – Indexing
The indexing routine begins by sending the motor back to the home position. If the registration routine has
been running for quite some time, it may be beneficial to run the Home routine by toggling Digital Input 1 prior to
performing the indexing routine. After returning home, the motor will perform three separate five revolution
indexes in the forward direction, and then return to the home position in one index.
1. Verify that all digital input switches are off (down)
2. Turn on SI2 to begin indexing routine
3. Turn off SI2 to stop indexing routine – routine will continue until the end of the current sequence
Digital Input 3 – Registration
After turning on Digital Input 3, the motor will jog at 5 rev/sec. The motor will continue to jog (as long as Digital
Input 3 is turned on) until Digital Input 6 is toggled on. Digital Input 6 is the dedicated registration input on the
Sigma FSP. After sensing the registration, the motor will index one more revolution at a reduced speed of 1
rev/sec.
1. Verify that all digital input switches are off (down)
2. Turn on SI3 to start motor jogging for registration routine, leave SI3 on
3. To end motor jogging without the registration index, turn SI3 off while the motor is jogging
4. Turn on SI6 to start registration index
5. After registration has completed, turn SI3 and SI6 off.