Yaskawa MP940 Reference Manual - Manual (Page 460)

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)
11-63
Zero-point Return (ZRET)
The zero-point return operation returns the axis to the machine coordinate zero-point.
The machine coordinate zero-point position data is deleted upon power OFF. There-
fore, the machine coordinate zero point must be determined anew at power ON. Gen-
erally the zero-point is determined by using an encoder with a zero pulse (C-phase
pulse) and a limit switch showing the zero-point range. There are two methods of
zero-point return operation: using the zero-return mode and using the motion com-
mands. Keep in mind that these zero-point return operations differ.
Zero-Point Return Format
Zero-point return (ZRET) consists of the following formats using motion
commands.
Note: The limit switch (deceleration LS) and zero-point return limit signal require the creation of
a user program which connects external DI signals such as LIO-01 to the following motion
setting parameters.
Note: DI5 (DI signal) may be used in the SVA-01 (4 axis) module. Set in bit 2 of fixed motion
parameter 14 “Additional Function Selections” whether the DI signal or OBC001F will be
used as the limit switch signal.
The polarity of the limit switch signal can be reversed by bit 10 “Deceleration Limit Switch
Inversion Selection” of fixed motion parameter 17 “Motion Controller Function Selection
Flags”.
Zero-Point Return Format Setting of Fixed Parameter 31
DEC1+C-phase Pulse 0
DEC2+C-phase Pulse 6
DEC1+LMT+C-phase Pulse 7
C-phase Pulse 3
DEC1+ZERO Signal 2
DEC2+ZERO Signal 4
DEC1+LMT+ZEROSignal 5
ZERO Signal 1
Limit Switch Signals :OBC001F
Zero-point Return Reverse Limit Signal :OBC021C
Zero-point Return Forward Limit Signal :OBC021D