Yaskawa Motion Control G7 Drive Software - Manual (Page 24)

Date: 05/16/08, Rev: 08-05 Page 24 of 38 TM.G7SW.117
5.5 Homing:
Homing is required in order to orient the drive to the mechanical system. A homing routine may or may not be
required depending on the motion type and encoder type. If the selected motion type is absolute linear or absolute
rotary (P1-01 = 1 or 2), and an absolute encoder is not present, homing will be required at power-up, when motion
control is re-enabled after being disabled, when motion type is changed (P1-01), or when encoder type is changed
(P3-01). Switching the drive into “Local” mode will not require the drive to be re-homed.
Accel and decel rates used during all homing stages are determined by parameters C1-07 and C1-08 except
where noted.
HOME NEGATIVE: When the “Home Command” input is closed, the drive will accelerate using the C1-07 ramp in
the negative (reverse) direction at the homing speed. As soon as the home switch is activated, the drive records
the position as home then decelerates using the decel rate specified in parameter C1-08. The drive then performs
a move to “home + home offset” using d1-16 as the speed, and C1-01 and C1-02 as the accel and decel ramps.
Figure 11: Home Negative Timing Chart (P2-01 = 0)
Digital
Inputs
Motor
Speed
Digital
Outputs
Run Cmd
Home Cmd
During Move
Move Complete
C1-07
Move To
Home
In Position
Window
(P1-08)
0 Hz
Home Switch
Homing Needed
At Home
Homing Complete
C1-08
(-)P2-02
C1-01 C1-02
d1-08