Yaskawa MP940 User Manual
Page 473
11.4 Position Control Using Motion Commands
11-71
11
Point Offset OLC006 is set in advance to 100, the position data will be 100.)
10.The zero point return operation is completed when the axis enters the Positioning Com-
pleted Range (OWC00E) after Distribution Completed (bit 2 of IWC015 is ON). When
the zero point return operation is completed, the ZRNC Zero Point Return Completed
(bit 6 of IWC015) turns ON.
11.After checking that the ZRNC Zero Point Completed (bit 6 of IWC015) is ON, set NOP
(= 0) in the motion command code (OWC020).
• If the machine is in Area B after the power is turned ON, the return cannot be performed correctly.
Be sure to move the machine back to Area A before performing a return.
• The deceleration limit switch width must be at least twice that of the high-speed scan setting value.
The criteria for the deceleration limit switch width (L) can be calculated using the formula shown
below.
• When a short distance is set for the zero point return final travel distance, the axis returns to the zero
point after the zero point has been passed once.
ZRET
YES
YES
NO
NO
YES
NO
BUSY=OFF?
End condition check
Motion command response
=ZRET?
Return (Other motion
command executing)
Motion command status
ZRNC operation
status = ON?
Return (ZRET
executing)
Return (ZRET
completed)
• Ts (s) = High-speed scan set value (ms)/1000
• F (m/s) = K {NR n FBppr}/60
f
: 100% speed (m/s)
K
: Weight of 1 pulse (m/pulse)
NR
: Rated rotation speed (r/min)
FBppr
: Feedback pulse resolution (ppr)
n
: Pulse magnification (1, 2, or 4)
• t (s) = Linear acceleration/deceleration time (s)
•
α (m/s
2
) = f/t
If
α = acceleration/deceleration time constant (m/s
2
), the following
equation applies.
L = 1/2
α (2 x Ts)
2
= 2
αTs
2
×
× ×
×