Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 64)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands
2-23
• Zero-point return motion types are shown in the following table. They can be selected
from the parameters.
a. Zero-point Return Motion 1
Execute the zero-point return motion which is shown as follows. The position to
which the axes return is the zero-point of the machine coordinate.
(1) Starts moving in the direction designated in the “Zero-point return direction”
parameter. The speed at this point is the value set up in the “Feed speed”
parameter.
• Setup parameter 1 (OWxx00): [Motion mode b9: Zero-point return direc-
tion]
• Setup parameter 30 (OWxx22): [Fast feed speed]
Fixed Parameter 26
[Zero-point return format]
Name Content
0 Zero-point return motion 1
3-stair deceleration format
based on deceleration LS and C-phase pulse
1 Zero-point return motion 2
Zero-point return format
based on zero-point LS
2 Zero-point return motion 3
3-stair deceleration format
based on deceleration LS and zero-point LS
3 Zero-point return motion 4
Zero-point return format
based on C-phase pulse
v
t
(1)
Zero-point return feed speed
(2)
Approach speed
(3)
Creep speed
(4)
Final
traverse distance
Zero-point of
machine coordinate
Zero-point field
Zero-point
LS signal
Figure 2.16: Motion Chart of the Zero-point Return Motion 1