YASKAWA JEPMC-MP2300-Y Series User Manual page 378

7 Motion Commands
7.2.3 Zero Point Return (ZRET)
[ d ] Execution when an Alarm Occurs
OW
IW
IB
IB
IB
IB
IB
IB
Alarm
( 7 ) Zero Point Return Operation and Parameters
[ a ] DEC1 + Phase-C Method (OW
∗3
NOT
7-20
08 = 3 (ZRET)
08 = 3 (ZRET)
090 (BUSY)
093 (FAIL)
098 (COMPLETE)
0C0 (DEN)
0C1 (POSCOMP)
1 scan
0C5 (ZRNC)
With an incremental encoder, there are 13 different methods that can be performed for the zero point
return operation. This section explains the operation that occurs after starting a zero point return and
the parameters that need to be set before executing the command.
None of the methods shown here are available with the SVR because it only supports absolute
encoders.
3C = 0)
Operation after Zero Point Return Starts
Travel is started at the zero point return speed in the direction specified in the parameters.
When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed.
When the first phase-C pulse is detected after passing the DEC1 signal at the approach speed, the
speed is reduced to the creep speed and positioning is performed.
When the 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 (OL
If an OT signal is detected during the zero point return operation, an OT alarm will occur.
Home Offset
(OL
Zero Point
Creep Speed
(OL
* 1. The SERVOPACK DEC signal.
* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
Undefined length of time
42)
40)
Approach Speed
(OL 3E)
Zero Point Return Speed
Start
(OL 10)
∗1
DEC1 signal
Phase-C pulse
POT
42).
∗2