Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 33)

5 Function Description
YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement 33
Home Positive with Marker
Home positive with marker uses the same sequence as Home negative with marker, but the drive proceeds in the positive
(forward) direction at the homing speed.
Figure 17
Figure 17 Home Positive with Marker Pulse Timing Chart (P2-01=5)
Manual Home
Regardless of what position the drive is in when a rising edge of the home switch is detected, it is considered home when
this homing method is selected. A move to home at end of homing routine is not performed in this mode. If a rising edge
of the home switch is detected during a move, the position at the rising edge becomes the new home and the move is
canceled.
Home Offset
Sometimes it is desirable to have the home (zero) position at a different place than the home switch. The home offset
parameters stores the distance between the home switch position and the desired actual home position.
Move to Home at End of Routine
The drive completes a move to the newly found home position (home switch + home offset) when a homing routine is
complete. The speed of the move is determined by parameter d1-16, and uses parameters C1-01 and C1-02 as the accel
and decel rates. The homing needed and home complete digital outputs will change as soon as the move to home is
complete.
(-)d1-16
C1-07
Move To
Home
0 Hz
C1-08 (+)P2-02
C1-01 C1-02
Digital
Inputs
Motor
Speed
Digital
Outputs
Run Cmd
Home Cmd
During Move
Move Complete
In PosiƟon
Window
(P1-08)
Home Switch
Homing Needed
At Home
Homing Compl.
Marker Pulse
from Encoder
PG
Input