YASKAWA MP2000 Series User Manual page 169

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)

Starting the Zero Point Return in Region C
1.
The axis travels in the reverse direction at the Creep Rate (setting parameter OL40).
2.
When the rising edge of the DEC1 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 DEC1 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 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)
 If an OT signal is detected during the zero point return operation, an OT alarm will occur.
7-30
Region A
N-OT
(DI_4)
DEC1
ZERO signal
(DI_2)
Region B Region C
ZERO signal
latch at this point
Creep Rate
(OL 40)
Zero Point Return Travel Distance
Start
Creep Rate
(OL 40)
Region D Region E
P-OT
(DI_3)
End