Yaskawa JAPMC-MC2300 - Manual (Page 166)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-26
Starting the Zero Point Return in the Low Region
1.
The axis travels in the reverse direction at the Approach Speed (setting parameter OL 3E).
2.
When the rising edge of the DEC2 signal is detected, the axis decelerates to a stop.
3.
After decelerating to a stop, the axis travels in the forward direction at the Creep Rate (setting parame-
ter OL
40).
4.
After the falling edge of the DEC2 signal is detected, the position is latched when the rising edge of the
ZERO signal is detected.
5. The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance
(setting parameter OL
42) and stops. The machine coordinate system is established with this final
position as the zero point.
If an OT signal is detected during zero point return operation, an OT alarm will occur.
N-OT
(DI_4)
Start
ZERO signal
(DI_2)
High region Low region
ZERO signal latch
position at this point
Creep Rate
(OL 40)
Approach Speed(OL 3E)
End
P-OT
(DI_3)
DEC2
(DI_5 or OW 05, bit 8)
Zero Point Return Travel Distance