YASKAWA E-S Series - Homing Procedures

7.2 Homing
7.2.3 Homing Procedures
7-8
7.2.3 Homing Procedures
There are five different homing patterns depending on the homing method that is specified in
PnB31 = n.X.
The homing procedure for each method is given in this section.
Using the /DEC Signal and Encoder Origin (Phase C) for
Homing (PnB31 = n.1)
 Turn ON the power supply.
 The ALM signal turns OFF.
 Turn ON the /S-ON signal. The SERVO ON state is entered.
 Turn ON the /HOME signal. Homing starts.
 Turn OFF the /HOME signal after the /BUSY signal turns ON.
 When the /DEC signal turns ON, the motor changes to the approach speed.
 When the encoder’s origin signal (phase C) is detected, the motor decelerates to the creep
speed.
 After the motor moves the final travel distance, homing has been completed and the /POS-
RDY signal turns ON.
Operation Pattern
/HOME
/BUSY
/INPOSITION
Speed
Time
/DEC
Homing movement speed
Approach speed
Creep speed
Encoder origin
/POSRDY
ALM
/S-ON
Power supply
3 s max.
Final travel distance
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