Yaskawa MP940 Reference Manual - Manual (Page 422)

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode
11-25
2. Turning the zero-point return mode (ZRN) (Bit 4 of OWC000) ON.
3. Zero-point Return Run Start
a.) Turn the RUN command ON (Bit 0 of OWC001). The axis moves in
the direction specified in “Zero-point Return Direction Selection”
(ZRNDIR) (Bit 9 of OWC000).
b.) The axis decelerates to creep speed when the “Zero-point Return
Deceleration Point Limit Switch” (LSDEC) (Bit 15 of OWC001) goes
ON.
Name
Register
Number
Setting Range Meaning
Setting
Example
Forward Torque Limit
(TLIMP) OWC002 -327.68 ~ 327.67 0.01 = 0.01
%1 = 1% -100.00
(-100.00%)
Positive Speed Limiter
(NLIMP) OWC004 0.00 ~ 327.67% 0.01 = 0.01
%1 = 1% 130.00
(130.00%)
Negative Speed Limiter
(NLIMN) OWC005 0.00 ~ 327.67% 0.01 = 0.01
%1 = 1% 130.00
(130.00%)
Zero-point Position Offset
(ABSOFF) OLC006
-2 3 1
~ 2
31-1 1 = 1 command unit
During pulse 1 = 1 pulse 100 pulses
Approach Speed Setting
(NAPR) OWC00A 0 ~ 32767 % of Rated Speed 1 =
0.01% 2000
(20.00%)
Creep Speed Setting
(NCLP) OWC00B 0 ~ 32767 % of Rated Speed 1 =
0.01% 1000
(10.00%)
Linear Acceleration Time
(NACC) OWC00C 0 ~ 32767 Linear acceleration time
constant at speed
parameter generation
(ms) 1000
(1s)
Linear Deceleration Time
(NDEC) OWC00D 0 ~ 32767 Linear deceleration time
constant at speed
parameter generation
(ms) 1000
(1s)
Positioning Completion Range
Setting
(PEXT) OWC00E 0 ~ 65535 1 = 1 command unit
During pulse 1 = 1 pulse 10 pulses
Deviation Error Detection Setting
(EOV) OWC00F 0 ~ 32767 1 = 1 command unit
During pulse 1 = 1 pulse 65535 pulses
Position Loop Gain Setting
(KP) OWC010 0.0 ~ 3276.7 0.1 = 0.1 /s
1 = 1 /s 30.0
(30.0 /s)
Filter Time Constant
(NNUM) OWC014 0 ~ 255 For simple S-curve
accel/decel 0