Yaskawa MP940 - Manual (Page 468)

Motion Control
11.4.4 Zero Point Return (ZRET)
11-66
Zero Point Return Operation Started and Interval (a) Used
1. The axis travels at rapid traverse speed in the forward direction.
2. The axis decelerates at the falling edge of the dog (deceleration limit switch) signal.
3. The axis travels at approach speed in the reverse direction.
4. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.
5. The axis travels at creep speed in the forward direction.
6. 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 (OLC02A) from the initial
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).
0
1.
2.
5.
4. 3.
6.
Reverse Forward ← →
Zero point
Speed
reference
Rapid traverse speed
Creep speed
Zero point return
position
Time
Approach speed
Zero point return final
travel distance
Zero point signal
(Phase-C pulse)
Dog (Decelera-
tion limit switch)
0
3.
4.
7.
6. 5.
8.
2. 1.
Reverse Forward ← →
Zero point
Speed
reference
Rapid traverse speed
Creep speed
Zero point return
position
Time
Approach speed
Zero point return final travel
distance Dog (Deceleration
limit switch)
Zero point signal
(Phase-C pulse)
Zero point return
reverse limit signal
(LMT_L)