Zero Point Return (Zret) - YASKAWA MP2100 Series User Manual

8.4 Zero Point Return (ZRET)

When the Zero Point Return command (ZRET) is executed, the axis will return to the zero point of the machine
coordinate system. The operation to detect the position of the zero point is different between an absolute encoder
and an incremental encoder. With an absolute encoder, positioning is performed to the zero point of the machine
coordinate system and command execution is completed. With an incremental encoder, there are 13 different
methods that can be performed for the Zero Point Return operation.
(1) Selecting the Zero Point Return Method
With an incremental encoder, the coordinate system data will be lost when the power supply is turned OFF. This
command must be executed when the power supply is turned ON again to establish a new coordinate system.
The 13 methods that are provided for the zero point return are listed in the following table. Select the best method
for the machine in the setting parameters.
Setting
Parameter Name
OW 3C
0 DEC1 + C-Phase
1 ZERO signal
2 DEC 1 + ZERO signal
3 C-Phase
11 C pulse Only
12 POT & C pulse
13 POT Only
14 Home LS & C pulse
15 Home Only
16 NOT & C pulse
17 NOT Only
18 INPUT & C pulse
19 INPUT Only
Method
Applies a 3-step deceleration method using the
deceleration limit switch and phase-C pulse.
Uses the ZERO signal.
Applies a 3-step deceleration method using the
deceleration limit switch and ZERO signal.
Uses the phase-C pulse.
Uses only the phase-C pulse.
Uses the positive overtravel signal and phase-C
pulse.
Uses only the positive overtravel signal.
Uses the home signal and phase-C pulse.
Uses only the home signal.
Uses the negative overtravel signal and phase-
C pulse.
Uses only the negative overtravel signal.
Uses the INPUT signal and phase-C pulse.
Uses only the INPUT signal.
8.4 Zero Point Return (ZRET)
Remarks
DEC1 signal:
The SERVOPACK DEC signal.
ZERO signal:
The SERVOPACK EXT1 signal.
DEC1 signal:
The SERVOPACK DEC signal.
ZERO signal:
The SERVOPACK EXT1 signal.
POT:
The SERVOPACK POT signal.
POT:
The SERVOPACK POT signal.
This method must not be used if
repeat accuracy is required.
HOME:
The SERVOPACK EXT1 signal.
HOME:
The SERVOPACK EXT1 signal.
NOT:
The SERVOPACK NOT signal.
NOT:
The SERVOPACK NOT signal.
This method must not be used if
repeat accuracy is required.
INPUT:
Setting parameter OB 05B
With this method, a zero point return
can be performed without
connecting an external signal using
setting parameter OB 05B.
This method must not be used if
repeat accuracy is required.
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