Yaskawa MP2200 Machine Controller - Manual (Page 261)

5.2 Motion Command Details
5-31
■ Starting the Zero Point Return in the Low Region
1. The axis travels in the reverse direction at the Approach Speed (setting parameter
OL††3E).
2. When the rising edge of the DEC2 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 DEC2 signal is detected, the position is latched when the
rising edge of the first phase-C pulse 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.
Start
DEC2
(DI_5 or OW 05, bit 8)
N-OT
(DI_4)
P-OT
(DI_3)
Approach Speed (OL 3E)
High region Low region
End
Home Offset
Phase-C signal
Phase-C signal
latch at this point
Creep Speed
(OL
40)
IMPORTANT