Yaskawa FSP Amplifier FlexWorks - Manual (Page 134)

Command Reference
134
HOME Commands
♦ The home switch is a digital input that defines the start point to
search for the C-pulse. Do not define the over travel switch as
the home switch.
♦ The accuracy of Home position in A quad B encoder by C-pulse
is +/- 1 count if the motor searches in the same direction. If the
motor searches in both directions the accuracy is the C-pulse
width +/- 1 count.
HARD_HOME
G ROUP Home
S YNTAX HARD_HOME <torque> <speed>
O P . C ODE 131
M ODES Program, Sequential
D ESCRIPTION Sets the home position using the machine hard stop. The
motor moves at profile acceleration and <speed> until
the <torque> is reached for 2 seconds and the position
does not change during that time.
If the torque exceeds the torque limit parameters (Pn402
Pn403), the alarm is output: “Torque exceeded Torque
Limits” (err: 33).
The Home Position is defined as the actual position when
the torque reaches the defined <torque> for 2 seconds.
The torque will not exceed the defined <torque> during
this procedure.
It is recommended to first set a low <torque> value. If
the machine hard stop is not found, gradually increase
the <torque> value.