Origin Returns - YASKAWA SGD7S Product Manual

Bytes Bit 7
1
0
Enable
1
2
3
4
5
6
7
• If an alarm occurs, the servo is OFF, or another operation command, such as positioning or an
origin return, is being executed, the continuous operation command will be ignored.
• Make sure that the Enable State bit in the response message is set to 1, and then set the Start
Trajectory bit. If you set the Enable bit and the Start Trajectory bit at the same time, the Start
Important
Trajectory bit will be ignored.
Motor speed
Enable
Start Trajectory
Direction
Trajectory In
Progress
Smooth Stop
Command Assembly Code
Command Data
13.3.3

Origin Returns

The origin return operation returns the current position to the machine origin. Three types of
origin returns are supported.
• Type 0: Operation Based on Home Flag and Encoder Phase C Detection
• Type 1: Operation Based on Only the Home Flag
• Type 3: Operation Based on Only Encoder Phase C Detection
Type 0
Origin returns are based on the Home Flag and the detection of phase C of the encoder.
1.
The axis travels at the origin approach speed in the specified origin return direction.
2.
When the status of the Home Flag changes, the axis will change the direction. The axis
will then travel at the origin return creep speed until the status of the Home Flag
changes again.
Bit 6 Bit 5
1 0
Valid Hard
Data Stop
0x1 Axis Instance
0x1 Axis Instance
0x40 Target Velocity Low Byte
0x1F Target Velocity Low Middle Byte
0x00 Target Velocity High Middle Byte
0x00 Target Velocity High Byte
A1
1
0
1
0
1
0
1
0
1
0
03h 04h 11h
A1 D1 V1
13.3 Controlling Operation from the Host Controller
Bit 4 Bit 3
0
0 1
Absolute/
Smooth Direction
Incremen-
Stop (V mode)
tal
0x00 Block Number
0x11 Command Assembly Code
0x03 Response Assembly Code
A1
V2
D1
V1
11h 11h
V2 V3

13.3.3 Origin Returns

Bit 2 Bit 1 Bit 0
0 1
Start Start
Block Trajectory
A1
D1
V3
13
13-15