Homing; Related Objects; Homing Method (6098 Hex) - YASKAWA SGD7S-1R9D Product Manual

13.4 Homing

13.4.1 Related Objects

13.4

Homing

The following figure shows the relationship between the input objects and the output objects in
the Homing Mode. You can specify the speeds, acceleration rate, and homing method. You
can also use home offset to offset zero in the user coordinate system from the home position.
Controlword (6040 hex)

Homing method (6098 hex)

Homing speeds (6099 hex)
Homing acceleration (609A hex)
Home offset (607C hex)

13.4.1 Related Objects

Index
6040 hex
6041 hex
607C hex
6098 hex
6099 hex
609A hex
13.4.2 Homing Method (6098 Hex)
Value
0
1
13-14
Subindex
0 Controlword
0 Statusword
0 Home offset
0 Homing method
Homing speeds
1 Speed during search for switch
2 Speed during search for zero
0 Homing acceleration
Definition
−
No homing (default setting)
With this method, homing starts in the negative direction if the negative
limit switch is inactive. The home position is the first index pulse that is
detected after the negative limit switch becomes inactive.
Homing with the nega-
tive limit switch and
index pulse
Negative limit switch
Statusword (6041 hex)
Homing
Position demand internal value (60FC hex)
method
or position demand value (6062 hex)
Name Access
Description
1
Index pulse
(N-OT)
PDO
Unit
Mapping
−
RW Yes
−
RO Yes
RW No Pos unit
−
RW Yes
RW Yes Vel unit
RW Yes Vel unit
RW Yes Acc unit UDINT
Continued on next page.
Data
Type
UINT
UINT
DINT
SINT
UDINT
UDINT