YASKAWA MP2000 Series User Manual page 189

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40
OL42
7-50
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) 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 HOME signal. 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
15: HOME LS Only Method
Method
Set the speed and travel direction (sign) to be used at zero point return start.
Creep Rate
Setting to 0 will result in an error.
Zero Point Return Travel
Set the travel distance from the point where the HOME signal is detected.
Distance
The travel direction will depend on the sign.
Setting
n
reference units/min