YASKAWA MP2000 Series User Manual page 187

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)

Parameters to be Set
Parameter
Fixed Parameter
No.1, Bit 5
OW03,
Bits 0 to 3
OL10
OW18
OW3C
OL3E
OL40
OL42
7-48
Name
Set whether or not to invert the polarity of DI_2 signal that is used for
HOME signal.
Deceleration LS
0: Do not invert
Inversion Selection
1: Invert
However, the deceleration limit switch signal for zero point return
(OW05, bit 8) will not be inverted even if this bit is set to 1 (Invert).
Select the setting unit for OL10 (Speed Reference Setting), OL3E
(Approach Speed), 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
14: HOME LS & Phase-C Pulse Method
Method
Set the speed to be used at zero point return start.
Approach Speed
The travel direction depends on the sign of the approach speed.
Setting to 0 will result in an error.
Set the speed and travel direction after the HOME signal is detected.
Creep Rate
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.
Setting
n
reference units/min