Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 233)

6 Utility Functions (Fn )
6-6
6.4 Origin Search (Fn003)
The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to
clamp at the position.
This function is used when the motor shaft needs to be aligned to the machine.
Motor speed at the time of execution: 60 min
-1
(For SGMCS direct drive motors, the speed at the time of execution is 6 min
-1
.)
(1) Preparation
The following conditions must be met to perform the origin search.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The main circuit power supply must be ON.
• All alarms must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• The servomotor power must be OFF.
CAUTION
• Perform origin searches without connecting the coupling.
The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin
search mode.
For aligning the motor
shaft to the machine
Servomotor
Machine
Rotation