Yaskawa MP920 Motion Module - Manual (Page 87)

2.4 Position Control Using Motion Commands
2-61
2
after traveling only the zero point return final travel distance (OL††2A) from the ini-
tial zero point signal, and that position will be the machine coordinate system zero point.
Zero Point Return Operation Started and Interval (b) Used
1. The axis travels at approach speed in the reverse direction.
2. The axis decelerates at the falling edge of the zero point return reverse limit signal
(LMT_L).
3. The axis travels at rapid traverse speed in the forward direction.
4. The axis decelerates at the falling edge of the dog (deceleration limit switch) signal.
5. The axis travels at approach speed in the reverse direction.
6. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.
7. The axis travels at creep speed in the forward direction.
8. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops
after traveling only the zero point return final travel distance (OL††2A) from the ini-
tial zero point signal, and that position will be the machine coordinate system zero point.
0
3.
4.
7.
6. 5.
8.
2. 1.
Speed
reference
Rapid traverse speed
Dog
(deceleration limit switch)
Zero point signal
(Phase-C pulse)
Creep speed
Approach speed
Zero point
Zero point
return position
Time
Zero point return
final travel distance
Reverse direction ← → Forward direction
Zero point return
reverse limit signal
(LMT_L)