YASKAWA JEPMC-MP2300-Y Series User Manual page 388

7 Motion Commands
7.2.3 Zero Point Return (ZRET)
[ i ] HOME LS Signal Method (OW
NOT *3
NOT *3
Parameter
OW 3C
OL 10
OL 40
OL 42
7-30
3C = 15)
Operation after Zero Point Return Starts
Travel is started at the creep speed in the direction specified by the sign of the creep speed.
When the rising edge of the home signal is detected, positioning is performed at the positioning
speed.
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 rising edge of the home signal is detected is set in the Home Offset.
The positioning speed is set in the Speed Reference Setting.
If an OT signal is detected during creep speed operation, an alarm will not occur, the direction will
be reversed, and a search will be made for the home signal.
If an OT signal is detected during positioning speed operation, an OT alarm will occur.
Creep Speed
(OL
Start
HOME signal *1
Detecting the OT Signal during Creep Speed Movement
HOME LS signal
* 1. The SERVOPACK EXT1 signal.
* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
The stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.
Setting Parameters
Name
Home Return Type
15: HOME LS Only Method
Set the positioning speed to use after detecting the home signal. The sign is ignored.
Speed Reference
The travel direction will depend on the sign of the Home Offset.
Creep Speed
Set the speed and the travel direction (sign) to use when starting a zero point return.
Set the travel distance from the point where the home signal is detected.
Home Offset
The travel direction will depend on the sign.
Positioning Speed
(OL 10)
40) Home Offset
(OL 42)
Positioning Speed
(OL 10)
Home Offset
(OL 42)
Zero Point
Creep Speed
(OL
*1
Zero Point
POT *2
Creep Speed
(OL 40)
Start
40)
*2
POT
Setting