YASKAWA MP2100 Series User Manual page 232

(h) Home LS & C Pulse Method
Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the
rising edge of the home signal is detected, the speed is reduced to creep speed. When the first phase-C pulse
is detected after the falling edge of the home signal, positioning is performed at 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 approach speed operation, an alarm will not occur,
the direction will be reversed, and a search will be made for the home signal. If an OT signal is detected dur-
ing positioning speed operation, an alarm will occur.
*3
NOT
Detecting the OT Signal during Approach Speed Movement
NOT *3
* 1. The SERVOPACK EXT1 signal.
* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
Parameter Name
OW 3C Home Return Type
OL 10 Speed Reference
OL 3E Approach Speed
OL 40 Creep Speed
OL 42 Home Offset
Approach Speed
(OL 3E)
Start
*1
HOME signal
Phase-C pulse
Creep Speed
(OL
HOME signal *1
Phase-C pulse
14: Home LS & C pulse Method
Set the positioning speed to use after detecting the phase-C pulse. The sign is ignored.
The travel direction depends 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 approach speed.
Set the speed to use after detecting the home signal. 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.
Positioning Speed
(OL 10)
Creep Speed
(OL 40)
Home Offset
(OL
Positioning Speed
(OL 10)
40)
Home Offset
(OLxx42)
Start
Approach Speed
Setting
8.4 Zero Point Return (ZRET)
42)
Zero Point
POT *2
Approach Speed
(OL 3E)
Zero Point
(OL 3E)
POT *2
8
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