YASKAWA SGD7S Product Manual page 425

Type 3
Origin returns are based only on 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 first phase C is detected, the axis will stop, reverse direction, and travel to the
position where phase C was detected.
Motor speed
1
Encoder's phase C signal
0
1
Start Trajectory
0
1
Trajectory In
Progress
0
Command Assembly Code
Command Data
Origin Return Operation Example
An example of a command message for an origin return is given in the following table. A type 0
origin return is used in this example. The SERVOPACK assumes that the data, such as the
Start Trajectory bit, is valid when the Valid Data bit in the command message is set to 1. There-
fore, set bytes 1 to 7 first, and then set byte 0.
Bytes Bit 7 Bit 6
1
1
0 Valid
Enable
Data
1
2 0x1 Axis Instance
3 0x1 Axis Instance
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 origin return command will be ignored.
• Make sure that the Enable State bit in the response message is set to 1, and then set the Start
Important Trajectory bit. If you set the Enable bit and the Start Trajectory bit at the same time, the Start
Trajectory bit will be ignored.
13.3 Controlling Operation from the Host Controller
A1
V1
12h
03h
Bit 5 Bit 4
0 0 0
Hard Smooth Direction
Stop Stop (V mode)
0x00 Block Number
0x12 Command Assembly Code
0x03 Response Assembly Code
0x00 (Homing Type)
0x00
0x00
0x00
13.3.3 Origin Returns
D1
A1
D1
Bit 3 Bit 2 Bit 1
0
0
Absolute/
Start
Incremen-
Block
tal
Bit 0
1
Start
Trajectory
13
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