Yaskawa MP920 User's Manual Design - Manual (Page 173)

4.4 Position Control Using Motion Commands
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4
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 (OL††2A) from the initial
zero point signal, and that position will be the machine coordinate system zero point.
Zero Point Return Operation Started with the Dog (Deceleration Limit
Switch) Signal in the Low Area
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 (OL††2A) from the initial
zero point signal, and that position will be the machine coordinate system zero point.
0
3.
2. 1.
4.
Reverse direction ← → Forward direction Zero point
Speed
reference
Approach speed
Creep speed
Zero point
return position
Dog
(Deceleration limit switch)
Zero point signal
(C-phase pulse)
Zero point return
final travel distance
Time