Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 32)

5 Function Description
32 YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement
Home Negative with Marker
The drive will proceed in the negative (reverse) direction at the homing speed when the home command input is closed
and a run command is issued. When the drive sees the leading edge of the home switch, it continues in reverse and starts
looking for a marker pulse from the encoder. As soon as the drive receives the marker pulse, it records the position as
home then decelerates using the decel rate specified in parameter C1-08. The drive then performs a move to home + home
offset.
Figure 16
Figure 16 Home Negative with Marker Pulse Timing Chart (P2-01=4)
Digital
Inputs
Motor
Speed
Digital
Outputs
Run Cmd
Home Cmd
During Move
Move Complete
C1-07
Move To
Home
In PosiƟon
Window
(P1-08)
0 Hz
Home Switch
Homing Needed
At Home
Homing Compl.
C1-08
(-)P2-02
C1-01 C1-02
d1-16
Marker Pulse
from Encoder
PG
Input