YASKAWA MP2000 Series User Manual page 168


Starting the Zero Point Return in Region B
1.
The axis travels in the reverse direction at the Approach Speed (setting parameter OL3E).
2.
When the falling edge of the Reverse Limit signal is detected, the axis decelerates to a stop.
3.
After decelerating to a stop, travel starts in the forward direction at the speed specified by the Speed
Reference Setting (setting parameter OL10).
4.
When the falling edge of the DEC1 signal is detected, the axis decelerates to a stop.
5.
After decelerating to a stop, the axis travels in the reverse direction at the Approach Speed (setting
parameter OL3E).
6.
When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
7.
After decelerating to a stop, the axis travels in the forward direction at the Creep Rate (setting parame-
ter OL40).
8.
After the falling edge of the DEC1 signal is detected, the position is latched when the rising edge of the
ZERO signal is detected.
9.
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.
N-OT
(DI_4)
DEC1
(DI_5 or OW 05, bit 8)
Zero Point Return Reverse
Run Side Limit Signal
(OW 05, bit 9)
Zero Point Return Forward
Run Side Limit Signal
(OW 05, bit 10)
ZERO signal
(DI_2)
 If an OT signal is detected during zero point return operation, an OT alarm will occur.
Region B
Region A
Speed Reference
Setting
(OL 10)
Start
Approach Speed Approach Speed
(OL 3E) (OL
Region C Region D
ZERO signal
latch at this point
Creep Rate
(OL 40)
Zero Point Return Travel Distance
End
3E)
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
Region E
P-OT
(DI_3)
7
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