YASKAWA MP2000 Series User Manual page 195

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)

Parameters to be Set
Parameter
OW03,
Bits 0 to 3
OW05, Bit B
OL10
OW18
OW3C
OL40
OL42
7-56
Name
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%)
Zero Point Return Input
This signal must be turned ON by using the ladder program.
Signal
Set the positioning speed to use after detecting the INPUT 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
19: INPUT 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 INPUT signal is detected.
Distance
The travel direction will depend on the sign.
Setting
n
reference units/min