YASKAWA MP2000 Series User Manual page 185

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
<Starting on the Positive Stroke Limit (P-OT)>
 The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.

Parameters to be Set
Parameter
OW03
Bits 0 to 3
OL10
OW18
OW3C
OL3E
OL42
7-46
N-OT (DI_4)
Name
Speed Unit Selection
Speed Reference
Setting
Override
Zero Point Return
Method
Approach Speed
Zero Point Return Travel
Distance
Zero Point
Select the setting unit for OL10 (Speed Reference Setting) and
OL3E (Approach Speed).
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 P-OT signal. 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 (OL10). The setting can be changed during operation
moving.
Setting range: 0 to 32767 (0 to 327.67%)
Setting unit: 1 = 0.01%
13: P-OT Only 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 travel distance from the point where P-OT signal is detected.
The travel direction will depend on the sign. Always set to a negative value
when using P-OT Only Method.
Start
Zero Point
Return Travel
Distance
(OL 42)
Speed Reference
Setting
(OL 10)
P-OT (DI_3)
Setting