YASKAWA MP2000 Series User Manual page 183

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)

Parameters to be Set
Parameter
OW03,
Bits 0 to 3
OL10
OW18
OW3C
OL40
OL42
[ j ] P-OT & Phase-C Pulse Method (OW3C = 12)

Operation after Zero Point Return Starts
Travel is started at the approach speed in the positive direction until the stroke limit is reached.
When the P-OT signal is detected, the direction is reversed to return at creep speed.
When the phase-C pulse is detected during the return after passing the P-OT signal, the positioning is performed.
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. The posi-
tioning speed is set in the Speed Reference Setting.
 If a negative value is set for the approach speed, the command will end in an error.
 If an OT signal is detected during the positioning speed operation, an OT alarm will occur.
N-OT (DI_4)
 The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
7-44
Name
Select the setting unit for OL10 (Speed Reference Setting) and
OL40 (Creep Rate).
0: Reference unit/s
Speed Unit Selection
1: 10
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
Set the positioning speed to use after detecting the phase-C pulse. The sign
is ignored.
Speed Reference
The travel direction will depend on the sign of the Zero Point Return Travel
Setting
Distance.
Setting to 0 or a negative value will result in an error.
This parameter allows the travel speed to be changed without changing the
Speed Reference Setting (OL10). The setting can be changed during
Override
operation.
Setting range: 0 to 32767 (0 to 327.67%)
Setting unit: 1 = 0.01%
Zero Point Return
11: C Pulse Only Method
Method
Set the speed and travel direction (sign) to use when starting a zero point
return.
Creep Rate
The setting cannot be changed during operation. The speed and travel direc-
tion (sign) at the operation start is applied.
Setting to 0 will result in an error.
Zero Point Return Travel
Set the travel distance from the point where a phase-C pulse is detected.
Distance
The travel direction will depend on the sign.
Start
Setting
n
reference units/min
(Example) Setting for 50%: 5000
Approach Speed
(OL 3E)
Phase-C pulse
Zero Point
Zero Point Return
Travel Distance
(OL 42)
Speed Reference Setting
(OL 10)
Creep Rate
(OL 40)
P-OT (DI_3)