Yaskawa MP940 Reference Manual - Manual (Page 464)

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)
11-67
Operation when the transition signal (deceleration LS) is in the low
range at zero-point return operation start
1. Moves in a reverse direction at approach speed.
2. Decelerates at the upward transfer of the transition (deceleration LS)
signal.
3. Moves in a forward direction at approach speed.
4. After detecting the downward transfer of the transition pulse (decelera-
tion LS), the axis moves from the initial zero-point signal by the final
zero-point return run distance (OLC02A) at the upward transfer of the
pulse transition, stops, then assumes that position as the machine coor-
dinate zero-point.
DEC1+LMT+C-phase Pulse Format
Executes zero-point return using a limit switch (deceleration LS), a zero-
point return limit signal, and a zero-point signal (c-phase pulse) after fast
feed by linear accel/decel.(with a transition band)
Limit switches (deceleration LS) and zero-point return limit signals are
used in the following machine configurations.
Speed
Reference
0
Reverse Forward Zero
Point
Creep Speed
Approach Speed
Dog-leg
(Deceleration LS)
Zero-point Signal
(C-phase Pulse)
Time
3.
2. 1.
4.
Zero Point
Return
Position
Zero Return Final Run
Distance