YASKAWA MP2100 Series User Manual page 236

(l) INPUT & 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 INPUT signal is detected, the speed is reduced to creep speed. When the first phase-C pulse
is detected after the falling edge of the INPUT 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 OT alarm will not
occur, the direction will be reversed, and a search will be made for the INPUT signal. If an OT signal is
detected during positioning speed operation, an OT alarm will occur.
Start
INPUT signal (OB
NOT *2
Approach Speed
(OL
NOT *2
* 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 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
OB 05B INPUT Signal for Zero
Point Return
Approach Speed
(OL 3E)
Creep Speed
(OL
05B)
Phase-C pulse
Approach Speed
(OL 3E)
Positioning Speed (OL
Start
INPUT signal (OB 05B)
3E)
Phase-C pulse
18: INPUT & C pulse 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 approach speed.
Set the speed to use after detecting the INPUT 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.
This signal must be set to 1 from the ladder program.
Positioning Speed
(OL 10)
40)
Home Offset
(OL 42)
10)
Home Offset
(OL 42)
Zero Point
Creep Speed
(OL 40)
Setting
8.4 Zero Point Return (ZRET)
Zero Point
POT *1
POT *1
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