Yaskawa MP2000 - Manual (Page 45)

TECHNICAL NOTE
<HOME> Input and Output Register Map
Output Registers
The following registers are used as outputs from the function block. They can be
monitored by the LadderWorks program to check the execution of the function.
Output Type Description
RUNNING Bit High while block has control and move is in progress.
DONE Bit Turns on when Homing process is completed
ERROR Bit Latches high if any error occurs in block (see table
below) or on the servo axis (see IL**04).
Input Registers
The following registers are used as inputs to the function block. They select the options
and define the parameters that the user needs to make the Home function work as
necessary.
Input Type Description Range and State
EXECUTE Bit Block enable – Block cannot
execute unless this is TRUE. Rising edge initiates block
TRUE – Block enable
FALSE – Block disable, set all
outputs to zero and off
REVERSE Bit Determines direction of homing. TRUE – Seek in reverse
FALSE – Seek in forward
INPUT Bit “INPUT” signal for Homing type
that uses it. Only homing type 18 and 19 use
the INPUT signal.
AXIS Word Axis number related to the block 1～16
TIME
Word Maximum time to complete the
homing, if timeout then ERROR. Time in seconds.
Range: 0 to 32767 integers
TRAVSPD Long Traverse speed of servo while
searching for the home switch. In
counts per second. 0 to maximum speed (ML3**12)
APRSPD Long Approach speed reference
unit/sec 0 to maximum speed (ML3**12)
CRPSPD Long Creep rate reference unit/sec 0 to maximum speed (ML3**12)
Offset Long Final moving distance. And the
position will be this value. Position in encoder counts.
Range –2
31 to 2 30 integers
DATA11W Address Address of the first working
register. Eleven words of register space are
used by this function.
File: MP2000_IndividualFunctionDocument_RevC 45/168
Doc Number: eng.MCD.05.101
11/17/2005