YASKAWA MP2100 Series User Manual page 229

8 Motion Commands
(e) C Pulse Only Method
Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising
edge of the phase-C pulse is detected, positioning is performed at the positioning speed. 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. The positioning speed is set
in the Speed Reference. If an OT signal is detected during creep speed operation, an OT alarm will not occur,
the direction will be reversed, and a search will be made for the phase-C pulse. If an OT signal is detected
during positioning speed operation, an OT alarm will occur.
NOT
OT Signal Detected during Creep Speed Operation
NOT
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
Note: The stopping method when the OT signal is detected depends on the setting of
Parameter
OW
OL
OL
OL
8-20
Creep Speed
(OL
Start
Phase-C pulse
*2
Phase-C pulse
*2
SERVOPACK parameters.
Name
3C Home Return Type
10 Speed Reference
40 Creep Speed
42 Home Offset
Positioning Speed
(OL 10)
40)
Home Offset
(OL 42)
Positioning Speed
(OL 10)
Home Offset
(OL 42)
11: C Pulse Only Method
Set the positioning speed to use after detecting the phase-C pulse.
The sign is ignored. The travel direction will depend on the sign of
the Home Offset.
Set the speed to use when starting a zero point return. The travel
direction will depend on the sign of the creep speed.
Set the travel distance from the point where a phase-C pulse is
detected. The travel direction will depend on the sign.
Zero Point
Creep Speed
(OL 40)
Zero Point Start
Creep Speed
(OL 40)
Setting
POT *1
*1
POT