YASKAWA MP2100 Series User Manual page 235

8 Motion Commands
(k) NOT Only Method
Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the
NOT signal is detected, the direction is reversed to return at Positioning speed. When a change in the NOT
signal status from ON to OFF is detected, 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 NOT signal changed is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference. If a positive value is set for the approach speed, the command will end in
an error. If an OT signal is detected during the positioning speed operation, an OT alarm will occur.
Detecting the change in the NOT signal status is performed using software processing. The position where
positioning is completed will vary with the high-speed scan setting, positioning speed, etc. Do not use this
method if repeat accuracy is required in the position where the zero point return operation is completed.
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
8-26
Positioning Speed
(OL 10)
Home Offset
(OL 42)
Zero Point
Approach Speed
(OL
*2
SERVOPACK parameters.
Name
3C Home Return Type
10 Speed Reference
3E Approach Speed
42 Home Offset
3E)
17: NOT Only Method
Set the positioning speed to use after detecting the NOT signal
change. 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. Add a sign so
that the travel direction will be negative.
Set the travel distance from the point where the NOT signal change is
detected. The travel direction will depend on the sign.
Start
POT
Setting
*1