YASKAWA MP2100 Series User Manual page 228

(d) C-Phase Method
Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of
the phase-C pulse is detected, the speed is reduced to the creep speed and positioning is performed. 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.
Zero Point
NOT *2
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
Parameter
OW 3C Home Return Type
OB 093 Home Direction
OL 3E Approach Speed
OL 40 Creep Speed
OL 42 Home Offset
Home Offset
(OL 42)
Creep Speed
(OL 40)
Name
3: C-Phase Method
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.
Set the speed to use after detecting the phase-C pulse. Only a positive
value can be set; a negative value will result in an error.
Set the travel distance from the point where a phase-C pulse is
detected. 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.
8.4 Zero Point Return (ZRET)
Start
Approach Speed
(OL 3E)
Phase-C pulse
Setting
*1
POT
8
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