Yaskawa MP940 Reference Manual - Manual (Page 468)

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)
11-71
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 zero-
point return run distance at the upward transfer of the pulse transition,
stops, then assumes that position as the machine coordinate zero-point.
C-phase Pulse Format
Execute zero-point return in which only the zero-point signal (C-phase
pulse) following feed by linear accel/decel is used.
1. Moves at approach speed in the direction designated in the motion set-
ting servo parameter (OBC009).
2. Decelerates to creep speed after detection of the initial zero-point sig-
nal.
3. The axis will move from the initial zero-point signal by the zero-point
return run distance, stop, then assume that position as the machine
coordinate zero point.
DEC1+ZEROSignal Format
Executes zero-point return using the ZERO signal (DI signal) instead of
the C-phase pulse in the aforementioned “DEC1+C-phase Pulse Format”.
For details, see the aforementioned “DEC1+C-phase Pulse Format”.
Speed
Reference
0
Reverse Forward Zero
Point
Creep Speed
Zero Point Signal
(C-phase pulse)
Time
1.
2.
3.
Zero Point
Return
Position
Zero Point Return Final
Run Distance