YASKAWA E-7S SERVOPACK SGD7S Product Manual page 488

Serial Command
PnB25
PnB31
PnB32
PnB33
ZRN
PnB35
PnB37
PnB39
Note: 1. The software limits (PnB21 and PnB23) are disabled until homing is com-
Function/Description
• When using an incremental encoder: Origin
• When using an absolute encoder: Absolute Encoder Offset
Setting
Setting Unit
Range
-99999999 to 1 reference
+99999999* unit
Parameter
0000h
[default Homing is not executed.
setting]
/DEC and phase C are used for
0001h
homing.
0002h Only /DEC is used for homing.
0003h Only phase C is used for homing.
0000h
/HOME or ZRN command is used
[default
for homing in forward direction.
setting]
/HOME or ZRN command is used
0001h
for homing in reverse direction.
Homing Moving Speed
Setting Range Setting Unit
1000
1 to
Reference
99999999*
units/min
Homing Approach Speed
Setting Range Setting Unit
1000
1 to
Reference
99999999*
units/min
Homing Creep Speed
Setting Range Setting Unit
1000
1 to
Reference
99999999*
units/min
Homing Final Move Distance
Setting Range Setting Unit
-99999999 to 1 reference
+99999999* unit
pleted. They are enabled after homing is completed. On the other hand, the
overtravel signals (P-OT and N-OT signals) are enabled before homing is
completed.
2. When an incremental encoder is being used, homing will be completed if
the ZSET command (coordinates setting) is executed instead of homing.
3. Error E5DE will occur if the ZRN command is executed while PnB31 =
0000h.
4. Homing can be performed only when an incremental encoder is being used.
Error E61E will occur if the ZRN command is executed and an absolute
encoder is being used.
14.8 Serial Commands
Continued from previous page.
Default
When Enabled
Setting
0 After restart
When
Meaning
Enabled
After restart
Immediately
Default
When Enabled
Setting
1000 Immediately
Default
When Enabled
Setting
1000 Immediately
Default
When Enabled
Setting
1000 Immediately
Default
When Enabled
Setting
0 Immediately
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14.8.2 Homing
Positive
Response
OK
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