Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 184)

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-23
Motion Commands
[ c ] DEC1 + ZERO Method (OW 3C = 2)
Operation after Zero Point Return Starts
Travel is started at the zero point return speed in the direction specified in the parameters.
When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed.
When the rising edge of the ZERO signal is detected after passing the DEC1 signal at the approach speed, the speed is
reduced to the creep speed and positioning is performed.
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 ZERO signal 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.
* 1. The SERVOPACK DEC signal.
* 2. The SERVOPACK EXT1 signal.
* 3. The SERVOPACK P-OT signal.
* 4. The SERVOPACK N-OT signal.
Setting Parameters
Parameter Name Setting
OW 3C
Zero Point Return
Method
2: DEC1 + ZERO Signal Method
OW 09, Bit 3
Zero Point Return
Direction Selection
Set the zero point return direction.
OL 10
Speed Reference Set-
ting 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.
OW 18 Override
This parameter allows the Zero Point Return speed to be changed without
changing the Speed Reference Setting (OL
10). Set the speed as a per-
centage of the Speed Reference Setting. This setting can be changed during
operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL 3E Approach Speed
Set the speed to use after detecting the DEC1 signal.
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 ZERO signal after passing the DEC1
signal.
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 the ZERO signal is detected
after passing the DEC1 signal.
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.
DEC1 signal *1
N-OT ∗4
P-OT ∗3
Start Zero Point
ZERO signal *2
Zero Point Return Travel Distance
(OL 42)
Creep Rate
(OL 40)
Approach Speed
(OL 3E)
Zero Point Return Speed
(OL 10)