Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 35)

5 Function Description
YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement 35
Figure 20
Figure 20 Home Negative with Backup Starting on Home Switch (P2-01=1)
Homing When Reverse Operation is Disabled
Homing can be affected whenever reverse operation is prohibited (b1-04 = 1). The only homing routines that could be
effectively used in under these conditions would be home forward and home forward with marker. If any other homing
type is selected when reverse is disabled, the homing routine will never complete. Normally, when the home switch is
activated at the beginning of a homing routine, the drive would back-up off of the home switch. Since backing up is not
allowed, the drive will move forward until the next leading edge of the home switch is encountered.
Figure 21 represents
a home positive timing chart, reverse prohibited, starting on home switch with relative or relative with memory motion
type.
If motion type is Relative or Relative w/memory (P1-01 = 3 or 4) when the rising edge of the home switch is encountered,
the drive simply ramps to stop and does not attempt to move to home, but instead simply records the home position.
Figure 21
Figure 21 Home Positive Timing Chart, Reverse prohibit, Starting on home switch, Relative or relative with memory motion
type.
(P2-01=2, b1-04=1)
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 Compl.
(+)P2-03
(-)P2-04
Back Off Of
Home Switch
Digital
Inputs
Motor
Speed
Digital
Outputs
Run Cmd
Home Cmd
C1-07
In Position
Window
(P1-08)
0 Hz
Home Switch
C1-08 (+)P2-02
During Move
Move Complete
Homing Needed
At Home
Homing Compl.