YASKAWA MP2200 User Manual page 268

5 Motion Commands
5.2.3 Zero Point Return (ZRET)
■ Starting the Zero Point Return in Region E
1.
2.
3.
4.
5.
N-OT
(DI_4)
DEC1
(DI_5 or OW 05, bit 8)
Reverse Limit
(OW 05, bit 9)
Forward Limit
(OW 05, bit 10)
Phase-C signal
IMPORTANT
5-38
The axis travels in the reverse direction at the Approach Speed (setting parameter
OL 3E).
When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
After decelerating to a stop, the axis travels in the forward direction at the Creep
Speed (setting parameter OL
After the falling edge of the DEC1 signal is detected, the position is latched when the
rising edge of the first phase-C pulse is detected.
The axis moves from the latched position by the distance set in the Home Offset
(setting parameter OL
established with this final position as the zero point.
Region A Region B
Phase-C signal
latch at this point
If an OT signal is detected during the zero point return operation, an OT alarm will occur.
WWW.NNC.IR
40).
42) and stops. The machine coordinate system is
Region C Region D
Creep Speed
(OL 40)
Home Offset
End
Approach Speed (OL 3E)
Region E
P-OT
(DI_3)
Start