5 function description – Yaskawa AC Drive - A1000 Motion Control Custom User Manual

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5 Function Description

YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement

Home Negative with Marker

The drive will proceed in the negative (reverse) direction at the homing speed when the home command input is closed
and a run command is issued. 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 16

Figure 16 Home Negative with Marker Pulse Timing Chart (P2-01=4)

Digital
Inputs

Motor

Speed

Digital

Outputs

Run Cmd

Home Cmd

During Move

Move Complete

C1-07

Move To

Home

In PosiƟon

Window

(P1-08)

0 Hz

Home Switch

Homing Needed

At Home

Homing Compl.

C1-08

(-)P2-02

C1-01

C1-02

d1-16

Marker Pulse

from Encoder

Input