Yaskawa JAPMC-MC2300 - Manual (Page 169)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-29
7
Motion Commands
Starting the Zero Point Return in Region B
1.
The axis travels in the reverse direction at the Approach Speed (setting parameter OL 3E).
2.
When the falling edge of the Reverse Limit signal is detected, the axis decelerates to a stop.
3.
After decelerating to a stop, travel starts in the forward direction at the speed specified by the Speed
Reference Setting (setting parameter OL
10).
4.
When the falling edge of the DEC1 signal is detected, the axis decelerates to a stop.
5.
After decelerating to a stop, the axis travels in the reverse direction at the Approach Speed (setting
parameter OL
3E).
6. When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
7. After decelerating to a stop, the axis travels in the forward direction at the Creep Rate (setting parame-
ter OL
40).
8.
After the falling edge of the DEC1 signal is detected, the position is latched when the rising edge of the
ZERO signal is detected.
9.
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.
Zero Point Return Travel Distance
Region A
Region B
Region C Region D Region E
Start
DEC1
(DI_5 or OW 05, bit 8)
N-OT
(DI_4)
P-OT
(DI_3)
End
Speed Reference
Setting
(OL 10) ZERO signal
latch at this point
Creep Rate
(OL 40)
Approach Speed
(OL 3E)
Approach Speed
(OL 3E)
Zero Point Return Reverse
Run Side Limit Signal
(OW 05, bit 9)
Zero Point Return Forward
Run Side Limit Signal
(OW 05, bit 10)
ZERO signal
(DI_2)