Yaskawa MP900 Series Motion Programming Manual - Manual (Page 73)

Motion Commands
2.1.5 ZERO POINT RETURN (ZRN)
2 -20
Phase-C Pulse: Parameter setting 3
For a machine for which a limit switch (LS) such as deceleration LS can be installed, the zero
point return operation is executed by sending only the phase-C pulse from the servomotor.
0
1.
2.
3.
Reverse direction ← → Forward direction
Zero point
Speed reference
Approach speed
Creep speed
Zero point return position
Time
Zero point return final travel distance
ZERO signal
(Phase-C pulse)
DEC2 + ZERO signal: Parameter setting 4
The zero point return operation is executed by sending the ZERO signal instead of the phase-C
pulse of “DEC2 + Phase-C pulse”.
DEC1 + LMT + ZERO signal: Parameter setting 5
The zero point return operation is executed by sending the ZERO signal instead of the phase-C
pulse of “DEC1 + LMT + Phase-C pulse”.
DEC2 + Phase-C pulse: Parameter setting 6
The axis travels in reverse at the approach speed, and then searches the zero point at the creep
speed for the zero point return.
This method is used for machines that require repetitive accuracy.
Reverse direction ← → Forward direction
0
1.
2.
5.
4. 3.
6.
Zero point
Speed reference
Rapid traverse speed
Creep speed Zero point return position
Approach speed
Time
Dog
(deceleration LS)
Zero point return final travel distance
ZERO signal
(phaseC pulse)
2