Zero Point Return (Zret) - YASKAWA JEPMC-MP2300-Y Series User Manual

7 Motion Commands

7.2.3 Zero Point Return (ZRET)

7.2.3 Zero Point Return (ZRET)
( 1 ) Selecting the Zero Point Return Method (with an Incremental Encoder)
Setting
Parameter Name
OW 3C
0 DEC1 + Phase-C
1 ZERO signal
DEC 1 + ZERO
2
signal
3 Phase-C
4 to 10 Not used
11 C pulse Only
12 POT & C pulse
13 POT Only
14 Home LS & C pulse
15 Home LS Only
16 NOT & C pulse
17 NOT Only
18 INPUT & C pulse
19 INPUT Only
7-16
R
When the Zero Point Return command (ZRET) is executed, the axis will return to the zero point of
the machine coordinate system.
The operation to detect the position of the zero point is different between an absolute encoder and an
incremental encoder.
The SVR supports only absolute encoders.
With an absolute encoder, positioning is performed to the zero point of the machine coordinate sys-
tem and command execution is completed.
With an incremental encoder, there are 13 different methods (see below) that can be performed for
the zero point return operation.
When an incremental encoder is selected for the Encoder Type by fixed parameter No. 30 to 0, the
coordinate system data will be lost when the power supply is turned OFF. This command must be
executed when the power supply is turned ON again to establish a new coordinate system.
The following table lists the 13 zero point return methods that are supported by the MP2300. Select
the best method for the machine according to the setting parameters. Refer to the page in the Table
under Details for additional command information.
Method
Applies a 3-step deceleration method
using the deceleration limit switch and
phase-C pulse.
Uses the ZERO signal.
Applies a 3-step deceleration method
using the deceleration limit switch and
ZERO signal.
Uses the phase-C pulse.
−
Uses only the phase-C pulse.
Uses the positive overtravel signal and
phase-C pulse.
Uses only the positive overtravel signal.
Uses the home signal and phase-C pulse.
Uses only the home signal.
Uses the negative overtravel signal and
phase-C pulse.
Uses only the negative overtravel signal.
Uses the INPUT signal and phase-C
pulse.
Uses only the INPUT signal.
Terminology: Pulse distribution
Pulse distribution transfers reference values from the MP2300 registers to the SERVOPACK registers every
scan. Used in describing motion command operation.
Signal Meaning
DEC1 signal: SERVOPACK DEC signal
ZERO signal: SERVOPACK EXT1 signal
DEC1 signal: SERVOPACK DEC signal
ZERO signal: SERVOPACK EXT1 signal
−
−
−
POT: SERVOPACK P-OT signal
POT: SERVOPACK P-OT signal
This method must not be used if repeat
accuracy is required.
HOME: SERVOPACK EXT1 signal
HOME: SERVOPACK EXT1 signal
NOT: SERVOPACK N-OT signal
NOT: SERVOPACK N-OT signal
This method must not be used if repeat
accuracy is required.
INPUT: Setting parameter OB
With this method, a zero point return can be
performed without connecting an external
signal using setting parameter OB
This method must not be used if repeat
accuracy is required.
Reference
Page
7-20
7-22
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7-24
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7-25
7-26
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7-28
7-30
7-31
7-32
7-33
05B
05B. 7-35