YASKAWA MP2000 Series User Manual page 190

[ n ] N-OT & Phase-C Pulse Method (OW3C = 16)

Operation after Zero Point Return Starts
Travel is started at the approach speed in the negative direction until the stroke limit is reached.
When the N-OT signal is detected, the direction is reversed to return at the creep speed.
When the phase-C pulse is detected during the return after passing the N-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 positive 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.
Zero Point
N-OT (DI_4)
 The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.

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
Phase-C pulse
Creep Rate
(OL 40)
Zero Point Return
Travel Distance
(OL 42)
Speed Reference Setting
(OL 10)
Approach Speed
(OL 3E)
Name
Select the setting unit for OL10 (Speed Reference Setting), OL3E
(Approach Speed), and OL40 (Creep Rate).
0: Reference unit/s
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 a 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%
16: N-OT & Phase-C Pulse Method
Set the speed to be used at zero point return start.
Only a negative value can be used. Setting to 0 or a positive value will result
in an error.
Set the speed after the N-OT signal is detected. The sign is ignored.
The axis travels in the forward 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
Setting
n
reference units/min
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
P-OT (DI_3)
7
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