YASKAWA MP2000 Series User Manual page 165

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)

Starting the Zero Point Return in the Low Region
1.
The axis travels in the reverse direction at the Approach Speed (setting parameter OL3E).
2.
When the rising edge of the DEC2 signal is detected, the axis decelerates to a stop.
3.
After decelerating to a stop, the axis travels in the forward direction at the Creep Rate (setting parame-
ter OL40).
4.
After the falling edge of the DEC2 signal is detected, the position is latched when the rising edge of the
ZERO signal is detected.
5.
The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance
(setting parameter OL42) and stops. The machine coordinate system is established with this final
position as the zero point.
(DI_5 or OW
 If an OT signal is detected during zero point return operation, an OT alarm will occur.
7-26
High region
N-OT
(DI_4)
DEC2
05, bit 8)
ZERO signal
(DI_2)
ZERO signal latch
position at this point
Low region
Creep Rate
(OL 40)
Zero Point Return Travel Distance
Start End
Approach Speed(OL 3E)
P-OT
(DI_3)