Yaskawa MP2200 Machine Controller - Manual (Page 254)

5 Motion Commands
5.2.3 Zero Point Return (ZRET)
5-24
[ f ] DEC1 + LMT + ZERO Signal Method (OW††3C = 5)
With this method, the machine's position is confirmed by the ON/OFF status of the DEC1, Reverse
Limit, and Forward Limit signals and the retracting operation is performed automatically, so the zero
point return is always performed with the same conditions.
This zero point return method can be used with the SVA-01 Module only.
■ Starting the Zero Point Return in Region A
1. Travel is started in the positive direction at the speed specified by the Speed
Reference (setting parameter OL††10).
2. When the falling edge of the DEC1 signal is detected, the axis decelerates to a stop.
3. After decelerating to a stop, the axis travels in the reverse direction at the Approach
Speed (setting parameter OL††3E).
4. When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
5. After decelerating to a stop, the axis travels in the forward direction at the Creep
Speed (setting parameter OL††40).
6. After the falling edge of the DEC1 signal is detected, the position is latched when the
rising edge of the ZERO signal is detected.
7. The axis moves from the latched position by the distance set in the Home Offset
(setting parameter OL††42) and stops. The machine coordinate system is
established with this final position as the zero point.
1. If an OT signal is detected during the zero point return operation, an OT alarm will occur.
2. The command will end in an error at the start of the Zero Point Return operation if the status of
the DEC1, Forward Limit, and Reverse Limit signals is not the same as the status shown in the
diagram above.
INFO
Home Offset
Region A Region B Region C Region D Region E
Start
DEC1
(DI_5 or OW 05, bit 8)
N-OT
(DI_4)
P-OT
(DI_3)
Approach Speed (OL 3E)
End
Speed Reference
(OL
10) ZERO signal
latch at this point
Creep Speed
(OL
40)
Reverse Limit
(OW
05, bit 9)
Forward Limit
(OW
05, bit 10)
ZERO signal
(DI_2)
IMPORTANT