Yaskawa Motion Control G7 Drive Software User Manual

Page 26

Date: 05/16/08, Rev: 08-05

Page 26 of 38

TM.G7SW.117

HOME POSITIVE WITH BACKUP: Same sequence as “Home Negative with Backup,” but all directions are
opposite.

Figure 14: Home Positive with Backup Timing Chart (P2-01 = 3)

HOME NEGATIVE WITH MARKER: When the “Home Command” input is closed and a run command is issued,
the drive will proceed in the negative (reverse) direction at the homing speed. When the drive sees the leading
edge of the home switch it continues in reverse and starts looking for a marker pulse from the encoder. As soon as
the drive receives the marker pulse, it 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.”

Figure 15: Home Negative with Marker Pulse Timing Chart (P2-01 = 4)

C1-07

C1-08

(+)P2-02

(-)d1-08

C1-01
C1-02

(-)P2-03

(+)P2-04

Digital
Inputs

Motor

Speed

Digital

Outputs

Run Cmd

Home Cmd

During Move

Move Complete

In Position

Window

(P1-08)

0 Hz

Home Switch

Homing Needed

At Home

Homing Complete