Yaskawa MP940 Reference Manual - Manual (Page 467)

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual
11-70
Operation in Area (c) at Zero-point Return Operation Start
1. Moves in a reverse direction at creep 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.
Operation in Areas (d) and (e) at Zero-Point Return Operation Start
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
Speed
Reference
0
Reverse Forward Zero
Point
Creep Speed
Dog-leg
(Deceleration LS)
Zero Point Signal
(C-phase pulse)
Time
3.
2. 1.
4.
Zero Point
Return
Position
Zero Point Final Run
Distance
Approach
Speed