Homing; Related Objects; Homing Method (6098H) - YASKAWA SGD7S-xxxDA0 series Product Manual

14.4 Homing

14.4.1 Related Objects

14.4

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 (6040h)

Homing method (6098h)

Homing speeds (6099h)
Homing acceleration (609Ah)
Home offset (607Ch)

14.4.1 Related Objects

Index
6040h
6041h
607Ch
6098h
6099h
609Ah

14.4.2 Homing Method (6098h)

Value
0
1
14-14
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 (6041h)
Homing
Position demand internal value (60FCh)
method
or position demand value (6062h)
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