YASKAWA S-V Series User Manual page 125

Serial Command
PnB25
PnB31
PnB32
PnB33
ZRN
PnB35
PnB37
PnB39
Note: 1.The software limits (PnB21 and PnB23) are disabled until homing is completed.
Control Commands (cont'd)
Function/Description
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
Setting Range
-99999999 to
Reference unit
+99999999
Parameter
0
[Factory Does not execute homing.
setting]
1 /DEC and phase C are used for homing.
2 Only /DEC is used for homing.
3 Only phase C is used for homing.
0
/HOME or ZRN command is used for
[Factory
homing in forward direction.
setting]
/HOME or ZRN command is used for
1
homing in reverse direction.
Homing Moving Speed
Setting Range
1 to 99999999
Reference units/
Homing Approach Speed
Setting Range
1 to 99999999
Reference units/
Homing Creep Speed
Setting Range
1 to 99999999
Reference units/
Homing Final Move Distance
Setting Range
-99999999 to
Reference unit
+99999999
They are enabled after homing is completed. On the other hand, the overtravel sig-
nals (P-OT and N-OT signals) are enabled before homing is completed.
2. When an incremental encoder is being used, homing will be completed if the ZSET
command (coordinates setting) is executed instead of homing.
3. Error E5DE will occur if the ZRN command is executed while PnB31 = 0.
4. Homing can be performed only when an incremental encoder is being used. Error
E61E will occur if the ZRN command is executed and an absolute encoder is being
used.
Setting Unit Factory Setting When Enabled
0
Meaning
Setting Unit Factory Setting When Enabled
1000
1000
min
Setting Unit Factory Setting When Enabled
1000
1000
min
Setting Unit Factory Setting When Enabled
1000
1000
min
Setting Unit Factory Setting When Enabled
0
7.7 Serial Commands
Positive
Response
After restart
When Enabled
After restart
Immediately
Immediately
OK
Immediately
Immediately
Immediately
7
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