YASKAWA SVC User Manual page 174


P-OT + C Pulse (OW3C = 12)
 Operation after Origin Return Starts
1.
Travel is started at the approach speed until the P-OT signal is detected.
2.
When the P-OT signal is detected, the direction will be reversed and the axis will return
at the creep speed.
3.
Positioning is performed when the phase-C pulse is detected after passing the P-OT
signal during the origin return operation.
4.
When the positioning operation has been completed, the machine coordinate system is
established with the position at the end of the positioning operation as the origin.
Start
*2
N-OT
*1.
SERVOPACK P-OT signal.
*2.
SERVOPACK N-OT signal.
1. The travel distance after the phase-C pulse is detected is the value of the Zero Point
Information
Return Travel Distance parameter. The positioning speed is the value of the Speed
Reference Setting parameter.
2. If a negative value is set for the approach speed, the command will end in an error.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an
overtravel alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK
parameter settings.
 Setting Parameters
Register Address
Zero Point Return

OW 3C
Method
Speed Reference Set-

OL 10
ting

OL 3E Approach Speed

OL 40 Creep Speed
Zero Point Return

OL 42
Travel Distance
Approach Speed
(OL
Origin
Name
12: P-OT + C pulse
Set the positioning speed to use after the phase-C pulse is
detected. The sign is ignored.
The travel direction depends on the sign of the Zero Point
Return Travel Distance parameter.
Set the speed at which to begin the origin return operation.
Add a sign to this setting so that the travel direction will be pos-
itive.
Set the reversal speed to use after the P-OT signal is detected.
The sign is ignored. The travel direction is negative.
Set the travel distance after the phase-C pulse is detected.
The travel direction depends on the sign.
4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
3E)
Phase-C pulse
Zero Point Return
Travel Distance
(OL 42)
Speed Reference Setting
(OL 10)
Setting Details
Creep Speed
(OL 40)
*1
P-OT
4
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