Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 30)

5 Function Description
30 YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement
Home Negative with Backup
The drive will accelerate using the C1-07 ramp in the negative (reverse) at the homing speed when the home command
input is closed. When the home switch is activated, the drive will then proceed positive (forward) at the homing backup
speed until the home switch is de-activated . The drive will then switch back into reverse and proceed at the homing final
speed. The drive records the position as home and decelerates to zero speed as soon as the home switch is re-activated.
The drive then performs a move to home + home offset using d1-16 as the speed, and C1-01 and C1-02 as the accel and
decel ramps. The homing needed output is deactivated and the homing complete output is activated when complete.
Figure 13
Figure 13 Home Negative with Backup Timing Chart (P2-01=1)
Digital
Inputs
Motor
Speed
Digital
Outputs
Run Cmd
Home Cmd
During Move
Move Complete
C1-07
In PosiƟon
Window
(P1-08)
0 Hz
Home Switch
Homing Needed
At Home
Homing Compl.
C1-08
(-)P2-02
d1-16
C1-01
C1-02
(+)P2-03
(-)P2-04