Yaskawa MP2000 - Manual (Page 57)

TECHNICAL NOTE
(h) HOME LS & C phase pulse method
The movement starts at the approach speed in the direction specified by the
parameter. Speed is changed to the creep speed at the rising edge of the HOME
signal. The final positioning is performed at the positioning speed after the first C
phase pulse is detected after the falling edge of the HOME signal. The machine
coordinate system is established with the position to be the HOME.
The amount of the movement from C phase pulse is set in the final travel
distance of homing. Positioning speed is set in the rapid feed speed. OT
detection at the approach speed does not become an alarm, but the movement
reverses, and looks for the HOME signal. If the OT signal is detected while
moving at the positioning speed, it becomes OT alarm.
File: MP2000_IndividualFunctionDocument_RevC 57/168
Doc Number: eng.MCD.05.101
11/17/2005