Yaskawa MP2200 Machine Controller - Manual (Page 258)

5 Motion Commands
5.2.3 Zero Point Return (ZRET)
5-28
■ Starting the Zero Point Return in Region D
1. The axis travels in the reverse direction at the Approach Speed (setting parameter
OL††3E).
2. When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
3. After decelerating to a stop, the axis travels in the forward direction at the Creep
Speed (setting parameter OL††40).
4. After the falling edge of the DEC1 signal is detected, the position is latched when the
rising edge of the ZERO signal is detected.
5. 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.
If an OT signal is detected during the zero point return operation, an OT alarm will occur.
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
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