Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 193)

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-32
[ k ] NOT Only Method (OW 3C = 17)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the negative direction until the stroke limit is reached.
When the N-OT signal is detected, the direction is reversed to return at the positioning speed.
When a change in the N-OT signal status from ON to OFF is detected during the return, 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 change of the N-OT signal status is detected is set in the Zero Point Return Travel Dis-
tance. The positioning speed is set in the Speed Reference.
If a positive 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.
Detecting the change in the OT signal status is performed using software processing. The position where positioning
is completed will depend on the high-speed scan setting, positioning speed, etc. Do not use this method if repeat
accuracy is required in the position where the zero point return operation is completed.
* 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
17: N-OT Only Method
OL 10
Speed Reference
Setting
Set the positioning speed to use after detecting the N-OT signal. The sign is
ignored.
The travel direction will depend on the sign of the Zero Point Return Travel
Distance.
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 negative.
OL 42
Zero Point Return Travel
Distance Set the travel distance from the point where the N-OT signal is detected.
The travel direction will depend on the sign.
N-OT *2
P-OT *1
Zero Point
Start
Positioning Speed
(OL 10)
Zero Point Return
Travel Distance
(OL 42)
Approach Speed
(OL 3E)