Yaskawa MP940 User Manual
Page 426
Motion Control
11.2.5 Zero Point Return Mode
11-24
∗ 2.
The limit switch (/DECLS) width must be at least twice that of the
high-speed scan setting.
1. Set the motion parameters.
The following three methods can be used to set the setting parameters.
• Using the CP-717 Setting Parameter Screen
• Using a ladder logic program
• Using a motion program
Table 11.4 Examples of Setting Parameters
2. Set the Zero Point Return Mode (ZRN) to ON (bit 4 of OWC000).
3. Set the Servo ON (RUN) to ON (bit 0 of OWC001).
a) The axis will be moved in the direction specified by the Zero Point Return Direction
Selection ZRNDIR (bit 9 of OWC000).
b) When the Zero Point Return Deceleration Point Limit Switch LSDEC (bit 15 of
OWC001) turns ON, the axis is decelerated to creep speed.
Name
Register No.
Setting
Range
Meaning
Setting
Example
Positive Torque Limit
Setting (TLIMP)
OWC002
-327.68 to
327.67
0.01 = 0.01%
1 = 1%
-100.00
(-100.00%)
Positive Speed Limiter
Setting (NLIMP)
OWC004
0.00 to
327.67
0.01 = 0.01%
1 = 1%
130.00
(130.00%)
Negative Speed Limiter
Setting (NLIMN)
OWC005
0.00 to
327.67
0.01 = 0.01%
1 = 1%
130.00
(130.00%)
Machine Coordinate
System Zero Point Offset
(ABSOFF)
OLC006
-2
31
to 2
31
-1
1 = 1 reference unit
With pulse: 1 = 1 pulse
100 pulses
Approach Speed Setting
(NAPR)
OWC00A
0 to 32767
Value (%) for rated speed: 1
= 0.01%
2000
(20.00%)
Creep Speed Setting
(NCLP)
OWC00B
0 to 32767
Value (%) for rated speed: 1
= 0.01%
1000
(10.00%)
Linear Acceleration Time
Constant (NACC)
OWC00C
0 to 32767
Linear acceleration time con-
stant (ms) at speed pattern
generation
1000
(1 second)
Linear Deceleration Time
Constant (NDEC)
OWC00D
0 to 32767
Linear deceleration time
constant (ms) at speed pat-
tern generation
1000
(1 second)
Positioning Completed
Range Setting (PEXT)
OWC00E
0 to 65535
1 = 1 reference unit
With pulse: 1 = 1 pulse
10 pulses
Error Count Alarm
Detection Setting (EOV)
OWC00F
0 to 32767
1 = 1 reference unit
With pulse: 1 = 1 pulse
65535 pulses
Position Loop Gain Setting
(KP)
OWC010
0.0 to 3276.7 0.1 = 0.1 /s
1 = 1 /s
30.0
(30.0 /s)
Filter Time Constant
(NNUM)
OWC014
0 to 255
For simple S-curved acceler-
ation
0