Yaskawa MP920 Motion Module - Manual (Page 92)

2 Motion Control
2.4.4 Zero Point Return (ZRET)
2-66
6. Zero point return (ZRET) will be executed.
The axis travels at rapid traverse speed in the direction specified by the zero point return
direction selection (OBC0009).
The motion parameter setting values cannot be changed during a zero point return oper-
ation.
The zero point return command operations are as follows:
a) Operation Start
Set RUN Servo ON (bit 0 of OW††01) to ON. For the PO-01 Module, set Excita-
tion ON (RUN) to ON.
Set the zero point return (ZRET) to motion command code (OW††20).
b) Feed Hold
Not possible.
c) Abort
Set Abort (bit 1 of OW††21) to ON, or set NOP (= 0) in the motion command code.
Busy (bit 0 of IW††15) turns ON during abort processing, and turns OFF at abort
completion.
Note: Even when the abort is completed and the abort is released (ABORT turns OFF), opera-
tions remain stopped.
7. The axis decelerates to approach speed at the falling edge of the dog (deceleration limit
switch) signal.
8. The axis decelerates to creep speed at the rising edge of the dog (deceleration limit
switch) signal.
9. When the dog goes high, the axis stops after traveling only the zero point return final
travel distance (OL††2A) from the initial zero point signal (Phase-C pulse), and that
YES
YES
YES
NO
NO
NO
YES
NO
ZRET
Start condition check
Control mode
= position control mode?
Motion command status
BUSY = OFF?
Return (OK)
Return (NG)
Return (NG)
Motion command code
= NOP||ENDOF_INTERPOLATE?
Motion command response
= NOP||INTERPOLATE||
ENDOF_INTERPOLATE?