Yaskawa MP920 Motion Module - Manual (Page 82)

2 Motion Control
2.4.4 Zero Point Return (ZRET)
2-56
„ Zero Point Return Method
The following methods are available with the zero point return (ZRET) motion command.
Note: Yes: Available, No: Not available
1. With a limit switch (deceleration limit switch) and a zero point return limit signal, a user program
must be created to connect the LIO-01 or other external DI signal to the next motion setting param-
eters.
• Limit Switch Signal * : OB††01F
• Reverse Limit Signal for Zero Point Return: OB††21C
• Forward Limit Signal for Zero Point Return: OB††21D
* DI5 (DI signal) can also be used with a 4-axis SVA-01A Module.
Whether a DI signal or OB††01F is used as the limit switch signal is
set in the bit 2 in motion fixed parameter No. 14 (Additional Function
Selections).
2. A limit switch (deceleration limit switch) signal’s polarity can be reversed using the setting of bit
10 (Deceleration Limit Switch Inversion Selection) in motion fixed parameter No. 17 (Motion
Controller Function Selection Flags (SVFUNCSEL)). The default is 0 (do not reverse).
3. Refer to 2.2.5 Zero Point Return Mode for details.
4. The zero point return method is set by specifying a number (0 to 7) in fixed parameter No. 31 (Zero
Point Return Method).
Details on each method are given next.
Zero Point Return Method Fixed Parameter 31
Setting
SVA-
01A
SVA-
02A
SVB-
01
PO-01
DEC1 + Phase-C pulse 0 Yes Yes Yes No
DEC2 + Phase-C pulse 6 Yes Yes No No
DEC1 + LMT + Phase-C
pulse 7 Yes Yes No No
Phase-C pulse 3 Yes Yes Yes No
DEC1 + ZERO signal 2 Yes No Yes Yes
DEC2 + ZERO signal 4 Yes No No Yes
DEC1 + LMT + ZERO signal 5 Yes No No Yes
ZERO signal 1 Yes No Yes No
INFO
0: Do not reverse Deceleration limit switch
NC contact
NO contact
1: Reverse Deceleration limit switch