Yaskawa MP920 User's Manual Design - Manual (Page 177)

4.4 Position Control Using Motion Commands
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„ C-phase Pulse
This method is used to perform zero point return using only a zero point signal (C-phase
pulse) by rapid traverse using linear acceleration/deceleration.
1. The axis travels at approach speed in the direction specified in the motion setting servo
parameter (OB††009).
2. The axis decelerates to creep speed after detecting the initial zero point signal.
3. The axis stops after traveling only the zero point return final travel distance from the ini-
tial zero point signal, and that position will be the machine coordinate system zero point.
„ DEC1 + ZERO Signal
This method can be used only with a 4-axis SVA-01 Module.
Zero point return is performed using a ZERO signal (DI signal) in place of the C-phase pulse
used in the DEC1 + C-phase Pulse described above.
For details, see DEC1 + C-phase Pulse.
„ DEC2 + ZERO Signal Method
This method can be used only with a 4-axis SVA-01 Module.
Zero point return is performed using a ZERO signal (DI signal) in place of the C-phase pulse
used in the DEC2 + C-phase Pulse discussed above.
For details, see DEC2 + C-phase Pulse.
1.
2.
3.
Reverse direction ← → Forward direction
Zero point
Speed
reference
Creep speed
Zero point
return position
Zero point signal
(C-phase pulse)
Zero point return final travel distance
Time
SVA-01A SVA-02A SVB-01 PO-01
Applicable Applicable Applicable N/A
SVA-01A SVA-02A SVB-01 PO-01
Applicable N/A Applicable Applicable
SVA-01A SVA-02A SVB-01 PO-01
Applicable N/A N/A Applicable