Homing Procedures - YASKAWA SGD7S-R70A Product Manual

7.2.3

Homing Procedures

Homing will start when the /HOME signal turns ON. Homing will be stopped if the /HOME sig-
nal turns OFF. If the /HOME signal turns ON while homing is stopped, homing will be restarted
from where it was stopped.
If a jog speed table operation is performed with the /JOGP or /JOGN signal or if the mode is
changed with the /MODE 0/1 signal while homing is stopped, homing will be canceled.
When Pn642 is set to n.0 (the current position when the power supply is turned ON is the
origin; homing is not executed), the origin position is defined as soon as the control power sup-
ply is turned ON.
There are three different origin patterns depending on the homing method that is specified in
Pn642 = n.X.
The homing procedure for each method is given in this section.
Using the /DEC Signal and Encoder Origin (Phase C)
for Homing (Pn642 = n.1)
 Turn ON the /HOME signal. Homing starts. The motor will rotate in the direction specified in
Pn643 = n.X (Homing Direction) at the speed specified in Pn644 (Homing Movement
Speed).
 When the /DEC signal turns ON, the motor changes to the approach speed.
 When the encoder's origin signal (phase C) is detected, the motor decelerates to the creep
speed.
 Homing is completed after the motor moves the final travel distance. Set Pn63C to the value
of the current position where the motor is stopped.
peed
Operation
Pattern
/MODE 0/1
/HOME
/DEC
Encoder origin
(pha e C)
Homing movement peed
(Pn644)
1 m min.

7.2.3 Homing Procedures

Approach peed
(Pn646)
Creep peed
(Pn648)
Final travel di tance (Pn64A)
7.2 Homing
Time
0 m min.
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