Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 187)

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
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[ f ] POT & C Pulse Method (OW 3C = 12)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the positive direction until the stroke limit is reached.
When the P-OT signal is detected, the direction is reversed to return at creep speed.
When the phase-C pulse is detected during the return after passing the P-OT signal, the 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 phase-C pulse is detected is set in the Zero Point Return Travel Distance. The posi-
tioning speed is set in the Speed Reference.
If a negative value is set for the approach speed, the command will end in an error.
If an OT signal is detected during the positioning speed operation, an OT alarm will occur.
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
Setting Parameters
Parameter Name Setting
OW 3C
Zero Point Return
Method
12: P-OT & C pulse method
OL 10
Speed Reference
Setting
Set the positioning to use after detecting the phase-C pulse. The sign is
ignored.
The zero point return direction will depend on the sign of the Home Offset.
OL 3E Approach Speed
Set the speed to use when starting a zero point return.
Add a sign so that the travel direction will be positive.
OL 40 Creep Rate
Set the reverse speed to use at after detecting the P-OT signal.
The sign is ignored. The travel direction will be negative.
OL 42
Zero Point Return Travel
Distance Set the travel distance from the point where a phase-C pulse is detected.
The travel direction will depend on the sign.
Phase-C pulse
N-OT *2
P-OT *1
Start
Zero Point
Approach Speed
(OL 3E)
Zero Point Return
Travel Distance
(OL 42)
Positioning Speed
(OL 10)
Creep Rate
(OL 40)