Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 191)

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-30
[ i ] HOME Only Method (OW 3C = 15)
Operation after Zero Point Return Starts
Travel is started at the creep speed in the direction specified by the sign of the creep speed.
When the rising edge of the home signal is detected, positioning is performed at the positioning speed.
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 rising edge of the home signal is detected is set in the Zero Point Return Travel Dis-
tance. The positioning speed is set in the Speed Reference Setting.
If an OT signal is detected during creep speed operation, an alarm will not occur, the direction will be reversed, and
a search will be made for the home signal.
If an OT signal is detected during positioning speed operation, an OT alarm will occur.
* 1. The SERVOPACK EXT1 signal.
* 2. The SERVOPACK P-OT signal.
* 3. 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
15: HOME LS Only Method
OL 10
Speed Reference
Setting
Set the positioning speed to use after detecting the home signal. The sign is
ignored. The travel direction will depend on the sign of the Zero Point Re-
turn Travel Distance.
OL 40 Creep Rate
Set the speed and the travel direction (sign) to use when starting a zero point
return.
OL 42
Zero Point Return Travel
Distance Set the travel distance from the point where the home signal is detected.
The travel direction will depend on the sign.
HOME signal *1
N-OT *3
P-OT *2
Start Zero Point
Creep Rate
(OL 40)
Positioning Speed
(OL 10)
Zero Point Return
Travel Distance
(OL 42)
HOME LS signal *1
N-OT *3
P-OT *2
Start Zero Point
Positioning Speed
(OL 10)
Zero Point Return
Travel Distance
(OL 42)
Creep Rate
(OL 40)
Creep Rate
(OL 40)