YASKAWA MP2000 Series User Manual page 163

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
[ d ] Phase-C Method (OW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 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 phase-C pulse 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09, Bit 3
OW3C
OL3E
OL40
OL42
7-24
Zero Point
Zero Point Return
Travel Distance
(OL 42)
Creep Rate
(OL 40)
Name
Zero Point Return
Set the zero point return direction.
Direction Selection
0: Reverse rotation (default), 1: Forward rotation
Zero Point Return
3: Phase-C Method
Method
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 phase-C pulse.
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 a phase-C pulse 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)
Phase-C pulse
Setting
P-OT (DI_3)