Yaskawa JAPMC-MC2300 User Manual
Page 164
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-24
[ d ] Phase-C Method (OW
3C = 3)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the direction specified in the parameters.
When the rising edge of the phase-C pulse is detected, the speed is reduced to the creep speed and positioning is per-
formed.
When the positioning has been completed, a machine coordinate system is established with the final position as the
zero point.
The moving amount after the phase-C pulse is detected is set in the Zero Point Return Travel Distance (OL
42).
If an OT signal is detected during the zero point return operation, an OT alarm will occur.
Parameters to be Set
Parameter
Name
Setting
OW
09, Bit 3
Zero Point Return
Direction Selection
Set the zero point return direction.
0: Reverse rotation (default), 1: Forward rotation
OW
3C
Zero Point Return
Method
3: Phase-C Method
OL
3E
Approach Speed
Set the speed to use when starting a zero point return.
Only a positive value can be set; a negative value will result in an error.
OL
40
Creep Rate
Set the speed to use after detecting the phase-C pulse.
Only a positive value can be set; a negative value will result in an error.
OL
42
Zero Point Return Travel
Distance
Set the travel distance from the point where a phase-C pulse is detected.
If the sign is positive, travel will be toward the zero point return direction; if
the sign is negative, travel will be away from the zero point return direction.
N-OT (DI_4)
P-OT (DI_3)
Start
Zero Point
Phase-C pulse
Zero Point Return
Travel Distance
(OL
42)
Creep Rate
(OL
40)
Approach Speed
(OL
3E)