Yaskawa MP920 User's Manual Design - Manual (Page 176)

4 Motion Control
4.4.4 Zero Point Return (ZRET)
4-62
Zero Point Return Operation Started and Zone (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 (OL††2A) from the initial
zero point signal, and that position will be the machine coordinate system zero point.
Zero Point Return Operation Started and Zones (d) and (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.
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 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
Creep speed
Zero point
return position
Dog
(Deceleration limit switch)
Zero point signal
(C-phase pulse)
Zero point return final travel distance
Time
Approach speed
0
3.
2.
1.
4.
Reverse direction ← → Forward direction Zero point
Speed
reference
Creep speed
Zero point
return position
Dog
(Deceleration limit switch)
Zero point signal
(C-phase pulse)
Time
Approach speed
Zero point return final travel distance