YASKAWA E-S Series Product Manual page 138

Performing Pressing Homing (PnB31 = n.4)
For pressing homing, the moving part is pressed against with the pressing torque for pressing
homing (PnBE1) for the pressing time for pressing homing (PnBE3) and then the motor moves
the final travel distance to define the home position.
 Turn ON the power supply.
 The ALM signal turns OFF.
 Turn ON the /S-ON signal. The SERVO ON state is entered.
 Turn ON the /HOME signal. Homing starts.
 Turn OFF the /HOME signal after the /BUSY signal turns ON.
 The motor moves to the end of travel and then performs pressing operation at the torque
specified in PnBE1.
 After pressing for the time set in PnBE3, the motor moves in the opposite direction.
 After the motor moves the final travel distance, homing has been completed and the /POS-
RDY signal turns ON.
Speed
Operation Pattern
Power supply
ALM
/S-ON
/HOME
/CLT
/BUSY
/INPOSITION
/POSRDY
Information
Set a negative value for the homing final travel distance (PnB39).
Creep speed
3 s max.
7.2.3 Homing Procedures
Final travel distance
Creep speed
Pressing time
7.2 Homing
Time
7
7-11