Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 37)

5 Function Description
YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement 37
„ Learn Mode
Digital Preset Position Learn Mode
In order for the drive to record the actual position of the home switch, begin by performing a homing routine. Select the
preset position to be learned using the multi-function inputs listed in
Table 9 . Next, jog the machine into position. Close
the Learn digital input for more than 1 second.
Avoid excessive use of the learn mode, as the drive’s EEPROM can only be written to 100,000 times.
Note: 1. If the home offset is utilized, it must to be set prior to using digital preset learn
2. If using any form of serial communications, when the learn function is used, all parameters that were changed using the RAM ENTER
(910h) command are written to EEPROM when the learn function is used.
„ 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. Homing will again be required when motion-control is re-enabled.
The maximum distance from home would be +/- 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, would result in 244,140 motor revolutions,
which is about 135 minutes of run time @ 1800 RPM.
Normal drive frequency references will override the motion control software, including jog forward and jog reverse. The
drive will still track position when the frequency reference is overridden. 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.
„ Overtravel
The overtravel multi-function inputs are active only when the motion control is NOT disabled (P1-01 = 0 or by Multi-
function Input). If an overtravel switch is activated during a homing routine or a move, the drive will simply decelerate to
zero speed and display an overtravel warning. hen an overtravel input is active and the overtravel 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 overtravel condition manually by using the Jog Fwd or Jog Rev Multi-function Inputs. If the motion
type and/or encoder type requires a home, the drive will have to be re-homed after the overtravel has been cleared. The
Learning function is also disabled during the overtravel condition.