Yaskawa MP940 User Manual

Page 469

11.4 Position Control Using Motion Commands

11-67

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 (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 (c) Used

1. The axis travels at approach speed in the reverse direction.

2. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

3. The axis travels at creep speed in the forward direction.

4. 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 Intervals (d) & (e) Used

1. The axis travels at approach speed in the reverse direction.

2. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

Reverse

Forward

← →

Zero point

Speed

reference

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)