YASKAWA MP2100 Series User Manual page 237

8 Motion Commands
(m) INPUT 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 INPUT signal 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 INPUT signal 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 INPUT signal. If an OT signal is detected
during positioning speed operation, an OT alarm will occur.
The INPUT signal is allocated to the motion setting parameter OB
operation to be performed without actually wiring a signal. This method can thus be used to temporarily set
the zero point during trial operation.
Detecting the rising edge of the INPUT signal 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
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
OB
8-28
Creep Speed
(OL
Start
INPUT signal (OB
*2
Creep Speed
(OL
Start Zero Point
Creep Speed
(OL 40)
INPUT signal (OB
*2
SERVOPACK parameters.
Name
3C Home Return Type
10 Speed Reference
40 Creep Speed
42 Home Offset
05B INPUT Signal for Zero
Point Return
Positioning Speed
(OL
40)
Home Offset
(OL
05B)
40)
Home Offset
(OL 42)
Positioning Speed
(OL 10)
05B)
19: INPUT Only Method
Set the positioning speed to use after detecting the INPUT signal. 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 distance to travel from the point the INPUT signal is detected.
The travel direction will depend on the sign.
This signal must be set to 1 from the ladder program.
05B, allowing the zero point return
10)
42)
Zero Point
Setting
*1
POT
POT *1