YASKAWA MP2100 Series User Manual page 225

8 Motion Commands
(2) Zero Point Return Operation and Parameters
This section explains the operation that occurs after starting a zero point return and the parameters that need to be
set before executing the command.
(a) DEC1 + C-Phase Method
Travel is started at the zero point return speed in the direction specified in the parameters. When the rising
edge of the DEC1 signal is detected, the speed is reduced to the approach speed. When the first phase-C pulse
is detected after passing the DEC1 signal, the speed is reduced to the creep speed and positioning is per-
formed. When positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
The moving amount after the phase-C pulse is detected is set in the Home Offset. If an OT signal is detected
during the zero point return operation, an OT alarm will occur.
NOT
* 1. The SERVOPACK DEC signal.
* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
Parameter
OW
OB
OL
OL
OL
OL
OL
8-16
Home Offset
(OL
Zero Point
Creep Speed
(OL
∗3
Name
3C Home Return Type
093 Home Direction
10 Speed Reference
18 Speed Override
3E Approach Speed
40 Creep Speed
42 Home Offset
42)
40)
Approach Speed
(OL 3E)
0: DEC1 + C-Phase
Set the zero point return direction.
Set the speed to use when starting a zero point return. Only a positive
value can be set; a negative value will result in an error.
This parameter allows the Zero Point Return speed to be changed
without changing the Speed Reference (OL
a percentage of the Speed Reference Setting. This setting can be
changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Set the speed to use after detecting the DEC1 signal. Only a positive
value can be set; a negative value will result in an error.
Set the speed to use after detecting the first phase-C pulse after
passing the DEC1 signal. Only a positive value can be set; a negative
value will result in an error.
Set the travel distance from the point where the first phase-C pulse is
detected after passing the DEC1 signal. If the sign is positive, travel
will be toward the zero point return direction; if the sign is negative,
travel will be away from the zero point return direction.
Start
Zero Point Return Speed
(OL 10)
DEC signal ∗1
Phase-C pulse
Setting
10). Set the speed as
POT ∗2