YASKAWA E-S Series Product Manual page 139

7.2 Homing
7.2.3 Homing Procedures
Using the /DEC Signal and Encoder Origin (Phase C) for
Homing and Reversing the Motor after /DEC Signal Detec-
tion (PnB31 = n.5)
 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.
 When the /DEC signal turns ON, the motor changes to the approach speed. The movement
direction is reversed.
 When the encoder's origin signal (phase C) is detected, the motor decelerates to the creep
speed.
 After the motor moves the final travel distance, homing has been completed and the /POS-
RDY signal turns ON.
Operation Pattern
Power supply
ALM
/S-ON
/HOME
/DEC
Encoder origin
/BUSY
/INPOSITION
/POSRDY
Stopping and Canceling Homing
If the /STOP signal turns ON during homing, the motor decelerates to a stop and homing is
stopped. When the /STOP signal turns OFF, homing is restarted.
If operation is performed with the /JOGP or /JOGN signal while homing is stopped for the /
STOP signal, homing will be canceled.
7-12
Speed
Homing movement speed
3 s max.
Final travel distance
Creep speed
Approach speed
Time