YASKAWA VIPA SPEED7 - Page 607

The values of the input parameters are accepted with an edge 0-1 at Execute and the
initialisation of the homing method is started. As long as the initialisation is active, the
output Busy is set to TRUE. If the initialisation has been completed successfully, the
output Done is set to TRUE. If an error occurs during initialisation, the output Error is set
to TRUE and an error number is output at the output ErrorID.
1. Verify communication to the axis.
2. Check for permitted PLCopen states.
3. Check the input values:
n Input VelocitySearchSwitch [UserUnits] > 0.0
n VelocitySearchSwitch [InternalUnits] > 0
n VelocitySearchSwitch [InternalUnits] £ VelocityMax
n Input VelocitySearchZero [UserUnits] > 0.0
n VelocitySearchZero [InternalUnits] > 0
n VelocitySearchZero [InternalUnits] £ VelocityMax
n Input Acceleration [UserUnits] > 0.0
n Acceleration [InternalUnits] > 0
n Acceleration [InternalUnits] £ AccelerationMax
4. Transfer of the drive parameters:
n "Homing Method" in dependence of input "Direction"
See Table below!
n "Homing Speed during search for switch" [Inc/s]
n "Homing Speed during search for zero" [Inc/s]
n "Homing Acceleration" [Inc/s
2
]
Homing Method InitialDirection WithIndexPulse OnRisingEdge SameDirIndexPulse
7 positive true true false
8 positive true true true
9 positive true false false
10 positive true false true
11 negative true true false
12 negative true true true
13 negative true false false
14 negative true false true
24 positive false true false
24 positive false true true
24 positive false false false
24 positive false false true
28 negative false true false
28 negative false true true
28 negative false false false
28 negative false false true
Initialisation homing on
home switch
Initialisation of the homing
method
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 607