YASKAWA SGD7S Product Manual page 424

13.3 Controlling Operation from the Host Controller
13.3.3 Origin Returns
3.
After the status of the Home Flag changes, the axis will continue to travel until the first
phase C is detected.
4.
When phase C is detected, the axis will decelerate and travel to the position where
phase C was detected.
Motor speed
Home Flag
Encoder's phase C signal
Start Trajectory
Trajectory In
Progress
Command Assembly Code
Command Data
Type 1
Origin returns are based only on the detection of the Home Flag.
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. It will
then return at the origin return creep speed to the position where the status of the Home
Flag changed.
3.
When the position where the Home Flag changes to the original status is detected, the
axis direction will change and the axis will return to the position where the change in the
status of the Home Flag was detected.
Motor speed
Home Flag
Start Trajectory
Trajectory In
Progress
Command Assembly Code
Command Data
13-16
V1
A1
1
0
1
0
1
0
1
0
12h
00h
V1
A1
1
0
1
0
1
0
12h
01h
D1
D1
A1
D1
A1
V2
D1
A1
D1
V2