YASKAWA yasnac i80m Instruction Manual page 93

(6) In the case
of manual high-speed reference point
return,
axial
movement
in the RAPIDor
JOG mode
cannot
be performed unless the
reference
point
return
switch is turned off after reference point
return
is completed.
(7)
Rotation axis
auto
return
to
reference point
A rotation
axis
can
also be returned
to
the reference point
as
well
as a
linear axis. After moving ±360.000"
or
further from the original refer¬
ence point,
the rotation axis
returns
to
the reference
position by rotating
a
minimum in the home positioning direction.
For example, from positions A and B, the axis
returns to
positions A'
and B\ respectively. (The home positioning direction is determined by
pm40Q2 (D3. D4).
B'
B
—
-720* -360*
Fig.3.6.2 Return of rotation axis to reference point
(When
reference
point return direction
is negative)
l
A'
A
+
720* 360"
U
NOTE
O
If G28 is instructed during the tool radius
compensation
mode (G41. G42)
or canned cycle.
alarm "182" results. As
a
rule. G28
must
be instructed in a tool radius
compensation C or
canned cycle canceled
stale.
0
If G28 command is made
during mirror image (M95), the following results.
Table 2.6.1
Parameter F'm-lOli] D2
Movement
Mirror
image is applied
at
an
intermediate
point.
Movement
to
the reference
point is
not
affected by mirror
image.
0
Alarm "127" results. I
©
For
a G28 instructed block in tool position offset, the machine is moved
to
an offset-applied
position by moving up
to
an
intermediate point and
to
an
absolute
position (where no offset
is applied) by moving up to the reference point.
However, movement by a move command by following
parameters
becomes
as
follows:
When
parameter
Pm-HU
1 D1 =0.
Pm
4010 D6 = 0
Pm 4010 D6 = 1
:
Moved
with offset applied.
When
parameter
Pm-IOll Ul = l.
Pm4010 D7 =
0
Moved
as
instructed.
Pm 4010 D7
= 1
:
Moved
with offset applied.
Moved
as
instructed.
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69
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