Yaskawa MP2000 - Manual (Page 48)

TECHNICAL NOTE
(2) Homing operation and parameters
The motion after the function is executed and parameters to be set at the execution of
the function are shown below.
(a) DEC1+C phase pulse system
The movement starts at the speed of the homing, speed of the rapid feed, in the direction
specified by the REVERSE input. When the rising edge of the DEC1 signal is detected, the
speed is decelerated to the approach speed. The speed is decelerated to the creep speed when
the first C phase pulse is detected after the DEC1 signal is passed and positioning is performed.
The machine coordinate system is established with the position to be the HOME. Distance from C
phase pulse is set in the OFSET. If OT signal is detected while in Homing process, it becomes
OT alarm.
Input Name Set Content
EXECUTE Execution Block enable
REVERSE Direction
selection
The direction of the homing.
0: Seek in forward
1: Seek in reverse
INPUT INPUT signal Not used
AXIS Axis setting Axis number related to the block.
1～16
TYPE Home position
return method 0: "DEC+C phase pulse" The method is selected.
TIME Timer limit
setting Maximum time to complete the Homing, if timeout
then Error
TRAVSPD Speed of rapid
feed
Traverse speed in count/second.
0-Max speed (ML3**12)
APRSPD Approach
speed Approach speed in count/second.
0-Max speed (ML3**12)
CRPSPD Creep rate Creep speed in count/second.
0-Max speed (ML3**12)
OFFSET Offset value Final moving distance. And the position will be this
value. If the value is positive, the final moving is in
the same direction of homing. If it is negative the
final moving will be in the opposite of homing
File: MP2000_IndividualFunctionDocument_RevC 48/168
Doc Number: eng.MCD.05.101
11/17/2005