Skip to main content

Maintenance: Re-homing an axis

This system initially had issues with couplers. When a coupler is replaced, the axis must be re-homed to reset the absolute encoders.

The process requires instructing the Yaskawa servo drive to forget its current absolute encoder position. This triggers the servo drive's re-home response. The homing motion direction is already configured, and the home switches are correctly positioned.

Typically, de-reference commands are set up for all axes. Until that is complete, these instructions that will work for any axis.

Identify the instance and motor number that needs to be re-homed.

Current list

As an example the back dado is Saw Gantry Y (#2.1). That means it is instance #2, and motor 1.

image.png

How to access the current list

  1. Disable the software

  2. Pull down the configure menu, select Plugins… then select RapidPath - at the bottom of the list.

  3. A new window will open. Click the drives tab at the top of the window, and you will see the list at the left.

  4. Don’t make any changes here. Just determine the instance and motor number to de-reference.
  1. Click on the service tab – at the bottom, then the maintenance tab – at the top.
  2. On the left side of the screen is a column of buttons. The enable button is at the bottom. The next button above that is the CMDS (Commands) button. Click View List.
  3. A window will open with a list of commands. At the top there is a search bar. Search for Lua
  4. image.png
  5. It should highlight the Run Lua Script. Click the Run Command button at the bottom.
  6. A new window will open and you need to type in the de-reference command  
    m.DeReferenceAxis (motor,instance) (opposite of how it is listed above)
examples:
saw gantry Y: m.DeReferenceAxis (1,2)
left clamps: m.DeReferenceAxis (5,0)
left dado X: m.DeReferenceAxis (0,1)
  7. Click the Run Lua Code button, and it will give you a completion status
  8. Click the Compile scripts button
  9. Close the Lua code window
  10. Close the Run Commands window
  11. image.png
  12. Switch to the correct instance
  13. Click the service tab at the bottom and the Maintenance tab at the top
  14. Click the enable button. You should now have the Homing buttons in the middle of the screen, and the axis to re-home should be alternating red and yellow.
  15. Click the home button for that axis, then cycle start

The axis should move to the home switch, reset that axis’ machine zero, and the axis letter should change to black. 
You are ready to run. 

image.png

Back to top