YASKAWA MP2000 Series User Manual page 161

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
[ b ] ZERO Signal Method (OW3C = 1)

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 ZERO signal is detected, the speed is reduced to the creep speed and positioning is per-
formed.
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 ZERO signal is detected is set in the Zero Point Return Travel Distance (OL42).
 If an OT signal is detected during the zero point return operation, an OT alarm will occur.
N-OT (DI_4)

Parameters to be Set
Parameter
OW3C
OW09, Bit 3
OL3E
OL40
OL42
7-22
Zero Point
Zero Point Return
Travel Distance
(OL 42)
Creep Rate
(OL 40)
Name
Zero Point Return
1: ZERO Signal Method
Method
Zero Point Return
Set the zero point return direction.
Direction Selection
0: Reverse rotation (default), 1: Forward rotation
Set the speed to use when starting a zero point return.
Approach Speed
Only a positive value can be set; a negative value will result in an error.
Set the speed to use after detecting the ZERO signal.
Creep Rate
Only a positive value can be set; a negative value will result in an error.
Set the travel distance from the point where the ZERO signal is detected.
Zero Point Return Travel
If the sign is positive, travel will be toward the zero point return direction; if
Distance
the sign is negative, travel will be away from the zero point return direction.
Start
Approach Speed
(OL 3E)
ZERO signal (DI_2)
Setting
P-OT (DI_3)