Homing; I/O Signals Related To Homing - YASKAWA SGD7S-R70A Product Manual

7.2 Homing

7.2.1 I/O Signals Related to Homing

7.2

Homing

Homing is used to define the machine origin when the power supply is turned ON to equipment
that uses an incremental encoder. Turn OFF (mode 1) the /MODE 0/1 (Mode Switch Input) sig-
nal to enable performing homing.
7.2.1

I/O Signals Related to Homing

The following I/O signals are related to homing.
Input Signals Related to Homing
Input Signal
/MODE 0/1
/HOME
/DEC
Output Signals Related to Homing
Output Signal
/COIN
/POSRDY
*
Refer to the following manual for details.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP
S800001 26)
Important
7-4
 If you are using an incremental encoder, always perform homing before you start program
table operation. If you perform program table operation without performing homing, posi-
tions cannot be managed so correct positioning may not be possible.
Unexpected machine operation, failure, or personal injury may occur.
ON: Mode 0 (program table operation)
OFF: Mode 1 (jog speed table operation or homing)
The /HOME signal is turned ON to start homing.
The /DEC signal is used to change the homing speed. The homing method
is set in Pn642 = n.X.
This signal turns ON when the current position is within the positioning
completed width of the target position (final travel distance). It also turns
ON when the motor stops after positioning is canceled, even if the target
position was not reached.
This signal turns ON when homing is completed.
Homing is not performed for an absolute encoder.
Therefore, error E61E (Encoder Mismatch Error) will occur if the /HOME signal turns ON.
WARNING
Description
Description
Reference
page 6-3
page 6-3
page 6-5
Reference
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