Yaskawa MP940 - Manual (Page 472)

Motion Control
11.4.4 Zero Point Return (ZRET)
11-70
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
Servo ON (bit 0 of OWC001).
Set the zero point return (ZRET = 3) to motion command code (OWC020).
b) Feed Hold
Not possible.
c) Abort
Set Abort (bit 1 of OWC021) to ON, or set NOP (= 0) in the motion command code.
Busy (bit 0 of IWC015) 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), operations 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 (OLC02A) from the initial zero point signal (Phase-C pulse), and that
position will be the machine coordinate system zero point.
A zero point position offset value can also be set. (If Machine Coordinate System Zero
ZRET
＝ NOP∥ENDOF INTERPOLATE?
YES
YES
YES
NO
NO
NO
＝ NOP∥INTERPOLATE∥
ENDOF INTERPOLATE?
BUSY=OFF?
YES
NO
Start condition check
Control mode = position
control mode?
Return (NG)
Return (NG)
Motion command code
Motion command response
Motion command status
Return (OK)