Yaskawa MP2200 Machine Controller - Manual (Page 269)

5.2 Motion Command Details
5-39
[ i ] New Phase-C Pulse Method (OW††3C = 11)
Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the
rising edge of the phase-C pulse is detected, positioning is performed at the positioning speed. When
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 Home Offset. The positioning
speed is set in the Speed Reference. If an OT signal is detected during creep speed operation, an OT
alarm will not occur, the direction will be reversed, and a search will be made for the phase-C pulse.
If an OT signal is detected during positioning speed operation, an OT alarm will occur.
OT Signal Detected during Creep Speed Operation
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
（ Note）The stopping method when the OT signal is detected depends on the setting of
SERVOPACK parameters.
Phase-C pulse
NOT *2
POT *1
Start Zero Point
Creep Speed
(OL 40)
Home Offset
(OL 42)
Positioning Speed
(OL 10)
Phase-C pulse
NOT *2
POT *1
Start Zero Point
Creep Speed
(OL 40)
Home Offset
(OL 42)
Positioning Speed
(OL 10)
Creep Speed
(OL 40)