YASKAWA XTRAWARE - V3.0, Manual

Page: 129 / 263

Command Reference
HARD_HOME
Table explanation
Group Home
Syntax HARD_HOME <torque> <speed>
Op. Code 131
Modes Program, Sequential
Description Sets the home position using the machine hard stop. The motor
moves at profile acceleration and <speed> until the <torque> is
reached and maintained for 2 seconds and the position does not
change during that time.
If the torque exceeds the torque limit parameters (Pn402 Pn403),
the alarm is output: “Torque exceeded Torque Limits” (err: 33).
The Home Position is defined as the actual position when the
torque reaches the defined <torque> for 2 seconds.
The torque will not exceed the defined <torque> during this
procedure.
It is recommended to first set a low <torque> value. If the
machine hard stop is not found, gradually increase the <torque>
value.
torque The torque limit and torque indication for finding
the Home position.
[0.1% of rated]
Serial 2 V
Syntax
Arguments
speed The speed and direction of searching for the
Hard stop.
[speed user units]
Serial 4 V
See Also HOME_SW, HOME_SW_C, HOME_C
XtraWare User Manual 119