YASKAWA MP2000 Series User Manual page 177

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)

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
first phase-C pulse 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.
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)
 If an OT signal is detected during the zero point return operation, an OT alarm will occur.
7-38
Region B
Region A
Speed Reference
Setting
(OL
N-OT
(DI_4)
Start
Approach Speed
(OL 3E)
Phase-C signal
Region C
10)
Phase-C signal
latch at this point
Creep Rate
(OL 40)
Zero Point Return Travel Distance
Approach Speed
(OL 3E)
Region D Region E
P-OT
(DI_3)
End