Yaskawa MP2200 Machine Controller - Manual (Page 278)

5 Motion Commands
5.2.3 Zero Point Return (ZRET)
5-48
[ p ] INPUT & Phase-C Pulse Method (OW††3C = 18)
Travel is started at the approach speed in the direction specified by the sign of the approach speed.
When the rising edge of the INPUT signal is detected, the speed is reduced to creep speed. When the
first phase-C pulse is detected after the falling edge of the INPUT 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
OT alarm will not occur, the direction will be reversed, and a search will be made for the INPUT
signal. If an OT signal is detected during positioning speed operation, an OT alarm will occur.
* 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.
INPUT signal (OB 05B)
Start Zero Point
Creep Speed
(OL 40)
Home Offset
(OL 42)
Positioning Speed
(OL 10)
Phase-C pulse
Approach Speed
(OL 3E)
INPUT signal (OB 05B)
Start
Zero Point
Creep Speed
(OL 40)
Home Offset
(OL 42)
Positioning Speed (OL 10)
Phase-C pulse
Approach Speed
(OL 3E)
Approach Speed
(OL 3E)
NOT *2
POT *1
NOT *2
POT *1