Yaskawa MP940 - Manual (Page 465)

11.4 Position Control Using Motion Commands
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1. The axis travels at rapid traverse speed in the direction specified in the motion setting
parameter (OBC0009).
2. The axis decelerates to approach speed at the falling edge of the dog (deceleration limit
switch) signal.
3. The axis decelerates to creep speed at the rising edge of the dog (deceleration limit
switch) signal.
4. When the dog is high, the axis stops after traveling only the zero point return final travel
distance (OLC02A) from the initial zero point signal (Phase-C pulse), and that position
will be the machine coordinate system zero point.
Automatic return is not performed with this zero point return method. Where zero point return to a
position is not possible, use a manual operation to return to the zero point.
„ DEC2 + Phase-C Pulse
This method is used to perform zero point return using a limit switch (deceleration limit
switch) and a zero point signal (Phase-C pulse) by rapid traverse using linear acceleration/
deceleration (without a dog width).
The method is used when limit switches are used in the following machine configuration.
0
1. 2. 3. 4.
Reverse Forward ← → Zero point
Speed
reference
Rapid traverse
speed
Approach
speed
Creep speed
Zero point return
position
Time
Zero point return final travel
distance
Zero point signal
(Phase-C pulse)
Dog (Decelera-
tion limit switch)
Pattern (A)
Pattern (B)
Low
High
Deceleration
limit switch
Machine total operating area
Reverse direction Forward direction
High
Low
Deceleration
limit switch
Machine total operating area
Reverse direction Forward direction