YASKAWA JEPMC-MP2300-Y Series User Manual page 382

7 Motion Commands
7.2.3 Zero Point Return (ZRET)
[ d ] Phase-C Method (OW
*2
NOT
Parameter
OW 3C
OB 093
OL 3E
OL 40
OL 42
7-24
3C = 3)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the direction specified in the parameters.
When the rising edge of the phase-C pulse is detected, 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.
Zero Point
Home Offset
(OL 42)
Creep Speed
(OL 40)
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
Setting Parameters
Name
Home Return Type
Home Direction
Approach Speed
Creep Speed
Home Offset
Approach Speed
(OL 3E)
Phase-C pulse
3: Phase-C Method
Set the zero point return direction.
Set the speed to use when starting a zero point return.
Only a positive value can be set; a negative value will result in an error.
Set the speed to use after detecting the phase-C pulse.
Only a positive value can be set; a negative value will result in an error.
Set the travel distance from the point where a phase-C pulse is detected.
If the sign is positive, travel will be toward the zero point return direction; if
the sign is negative, travel will be away from the zero point return direction.
Start
*1
POT
Setting
42).