Yaskawa JAPMC-MC2300 - Manual (Page 175)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
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7
Motion Commands
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
first phase-C pulse 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 the zero point return operation, an OT alarm will occur.
Start
DEC2
(DI_5 or OW 05, bit 8)
N-OT
(DI_4)
P-OT
(DI_3)
Approach Speed (OL 3E)
High region Low region
End
Zero Point Return Travel Distance
Phase-C signal
Phase-C signal
latch at this point
Creep Rate
(OL 40)