Yaskawa Motion Control G7 Drive Software - Manual (Page 32)

Date: 05/16/08, Rev: 08-05 Page 32 of 38 TM.G7SW.117
5.6 Learn Mode:
DIGITAL PRESET POSITION LEARN MODE
Note: If the home offset is utilized, it must to be set prior to using digital preset learn. First, perform a homing
routine so the drive knows the actual position of the home switch. Then, select the preset position to be
learned using the multifunction inputs (see Table 1). Next, jog the machine into position. Close the “Learn”
digital input for more than one second.
Avoid excessive use of the “Learn” mode, as the drive’s EEPROM can only be written to 100,000 times.
Note: If using any form of serial communications, when the “Learn” function is used, all parameters that were
changed using the “accept” command are written to EEPROM when the “Learn” function is used.
5.7 Motion Control Disable:
If the motion control is disabled, either by setting P1-01 = 0 or by closing the “Motion Disable” digital input, the drive
will respond like a drive with standard software installed. When motion control is re-enabled, homing will again be
required.
Normal drive frequency references will override the motion control software, including Jog Forward and Jog
Reverse. When the frequency reference is overridden, the drive will still track position. If the motion control
software is overridden with a jog or other frequency reference when in the middle of a move, the move is canceled,
and the drive ramps to the new reference. If the position of the drive is too far from home (exceeds internal limits),
the drive will need to be re-homed before any moves will be allowed.
The maximum distance from home is +/- 10 9 encoder quadrature counts. The home offset also has to be taken into
account for this calculation. The above number, using a 1024 PPR encoder, results in 244,140 motor revolutions,
which is about 135 minutes of run time @ 1800 RPM.
5.8 Over-travel:
The over-travel multifunction inputs are active only when the motion control is not disabled (P1-01 = 0 or by
multifunction digital input). If an over-travel switch is activated during a homing routine or a move, the drive will
decelerate to zero speed and display an over-travel warning. When an over-travel input is active and the
over-travel warning is displayed, the “Home Complete” output will be removed, and additional home or move
commands are ignored. The drive must be moved out of the over-travel condition manually, typically by using the
Jog Forward or Jog Reverse multifunction digital inputs. If the motion type and/or encoder type requires a home,
the drive will have to be re-homed after the over-travel has been cleared. The “Learning” function is also disabled
during the over-travel condition.