YASKAWA MP2000 Series User Manual page 184


Parameters to be Set
Parameter
OW03,
Speed Unit Selection
Bits 0 to 3
Speed Reference
OL10
Setting
Override
OW18
Zero Point Return
OW3C
Method
Approach Speed
OL3E
Creep Rate
OL40
Zero Point Return Travel
OL42
Distance
[ k ] P-OT Signal Method (OW3C = 13)

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 positioning speed.
When a change in the P-OT signal status from ON to OFF is detected during the return, 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 a change in the P-OT signal status is detected is set in the Zero Point Return Travel Dis-
tance. The positioning 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.
 Detecting the change in the OT signal status is performed using software processing. The position where positioning
is completed will depend on the high-speed scan setting, positioning speed, etc. Do not use this method if repeat
accuracy is required in the position where the zero point return operation is completed.
N-OT (DI_4)
Name
Select the setting unit for OL10 (Speed Reference Setting), OL3E
(Approach Speed), and OL40 (Creep Rate).
0: Reference unit/s
n
1: 10 reference units/min
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.
The travel direction will depend on the sign of the Zero Point Return Travel
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
operation.
Setting range: 0 to 32767 (0 to 327.67%)
Setting unit: 1 = 0.01%
12: P-OT & Phase-C Pulse Method
Set the speed to be used at zero point return start. Only a positive value can
be set. 0 or a negative value will result in an error.
Set the speed to return in the reverse direction after detecting the P-OT sig-
nal. The sign is ignored, and the axis moves in the negative direction.
Setting to 0 will result in an error.
Set the travel distance from the point where a phase-C pulse is detected.
The travel direction will depend on the sign.
Start
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
Setting
(Example): Setting value for 50%: 5000
Approach Speed
(OL 3E)
Zero Point
Zero Point Return
Travel Distance
(OL 42)
Speed Reference Setting
(OL 10)
7
P-OT (DI_3)
7-45