YASKAWA S-V Series User Manual page 124

7 Serial Command Communications
7.7.2 Control Commands
Serial Command
ZRN
7-16
Control Commands (cont'd)
Homing Start
Starts homing.
When homing has been stopped with the HOLD command, homing will be restarted (the hold
will be cleared) when the ZRN command is executed again.
The parameters for homing are specified in parameters PnB31 to PnB39.
PnB31
Homing Method Homing Direction
PnB31 = 0:
No homing.
Homing ends when
the control power
supply is turned ON.
PnB31 = 1:
Uses the /DEC signal
and the encoder's
phase C.
PnB32 = 0: Forward
PnB32 = 1: Reverse
PnB31 = 2:
Uses the /DEC signal
only.
PnB31 = 3:
Uses the encoder's
phase C only.
The current position when homing is completed is specified in PnB25.
When the control power supply is turned ON and homing is completed, the value of the current
position is replaced with the value in PnB25.
Function/Description
PnB32
PnB33 to PnB39
–
ZRN
Moving
speed
(PnB33) Approach
/DEC*
Encoder's
phase C
/DEC*
∗
To change the polarity, use parameter
PnB11.
ZRN
Approach
speed
(PnB35)
/DEC*
∗
To change the polarity, use parameter
PnB11.
ZRN
Encoder
phase C
–
Creep
speed
speed
(PnB35)
(PnB37)
Final Move Distance
(PnB39)
When PnB11
is 0
(First phase-C input
after/DEC signal
went from active to inactive)
When PnB11
is 1
Creep
speed
(PnB37)
Final Move Distance
(PnB39)
When PnB11
is 0
When PnB11
is 1
Approach
speed
Creep
(PnB35)
speed
(PnB37)
Final Move Dis-
tance (PnB39)
Positive
Response
OK