Yaskawa MP2000 Instrukcja Użytkownika Pobierz pdf (Strona 45)

TECHNICAL NOTE

<HOME> Input and Output Register Map

Output Registers

The following registers are used as outputs from the function block. They can be

monitored by the LadderWorks program to check the execution of the function.

Output Type Description

RUNNING Bit High while block has control and move is in progress.

DONE Bit Turns on when Homing process is completed

ERROR Bit Latches high if any error occurs in block (see table

below) or on the servo axis (see IL**04).

Input Registers

The following registers are used as inputs to the function block. They select the options

and define the parameters that the user needs to make the Home function work as

necessary.

Input Type Description Range and State

EXECUTE Bit Block enable – Block cannot

execute unless this is TRUE.

Rising edge initiates block

TRUE – Block enable

FALSE – Block disable, set all

outputs to zero and off

REVERSE Bit Determines direction of homing. TRUE – Seek in reverse

FALSE – Seek in forward

INPUT Bit “INPUT” signal for Homing type

that uses it.

Only homing type 18 and 19 use

the INPUT signal.

AXIS Word Axis number related to the block

1～16

TIME

Word Maximum time to complete the

homing, if timeout then ERROR.

Time in seconds.

Range: 0 to 32767 integers

TRAVSPD Long Traverse speed of servo while

searching for the home switch. In

counts per second.

0 to maximum speed (ML3**12)

APRSPD Long Approach speed reference

unit/sec

0 to maximum speed (ML3**12)

CRPSPD Long Creep rate reference unit/sec 0 to maximum speed (ML3**12)

Offset Long Final moving distance. And the

position will be this value.

Position in encoder counts.

Range –2

to 2

integers

DATA11W Address Address of the first working

Eleven words of register space are

used by this function.

File: MP2000_IndividualFunctionDocument_RevC 45/168

Doc Number: eng.MCD.05.101 11/17/2005

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