Yaskawa MP2200 Machine Controller - Manual (Page 272)

5 Motion Commands
5.2.3 Zero Point Return (ZRET)
5-42
* 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.
（ Note） Reverse type in : Parameters only for the SVA-01 Module.
[ l ] Home LS & Phase-C Pulse Method (OW††3C = 14)
Travel is started at the approach speed in the direction specified by the sign of the approach speed.
When the rising edge of the home signal is detected, the speed is reduced to creep speed. When the
first phase-C pulse is detected after the falling edge of the home signal, positioning is performed at
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 approach speed operation, an
alarm will not occur, the direction will be reversed, and a search will be made for the home signal. If
an OT signal is detected during positioning speed operation, an alarm will occur.
POT ∗1
Start
Zero Point
Home Offset
(OL 42)
Positioning Speed
(OL 10)
NOT ∗2
Parameter Name Setting
OW††3C Home Return Type 13: POT Only Method
OL††10 Speed Reference
Set the positioning speed to use after detecting the POT signal change.
The sign is ignored. The travel direction will depend on the sign of the
Home Offset.
OL††18 Speed Override
This parameter allows the Zero Point Return speed to be changed
without changing the Speed Reference (OL††10). Set the
override value as a percentage of the Speed Reference. This
setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%);
Setting unit: 1 = 0.01%
OL††3E Approach Speed
Set the speed to use when starting a zero point return. Add a sign so that
the travel direction will be positive.
OL††42 Home Offset
Set the travel distance from the point where the POT signal change is
detected. The travel direction will depend on the sign.