Yaskawa MP940 Reference Manual - Manual (Page 462)

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)
11-65
1. Moves at fast feed speed in the direction designated in
the motion setting parameter (OBC009).
2. Decelerates to approach speed at the downward trans-
fer of the transition (deceleration LS) signal.
3. Decelerates to creep speed at the upward transfer of
the transition (deceleration LS) signal.
4. The axis will move from the initial zero-point signal
(C-phase pulse) by the final zero-point return run dis-
tance (OLC02A) at the upward transfer of the pulse
transition, stop, then assume that position as the
machine coordinate zero point.
Automatic return is not executed in this zero-point return method. Return
the axis manually if it does not return to the zero-point position.
DEC2+C-phase Pulse Format
Executes zero-point return using a limit switch (deceleration LS) and a
zero-point signal (c-phase pulse) after fast feed by linear accel/decel (no
transition band).
Limit switches are used with the following machine configurations:
In pattern A, the machine position is recognized by the deceleration LS
ON/OFF state, an automatic return operation is executed, and zero-point
return is always executed under the same conditions.
In Pattern (B), set bit 10 “Deceleration LS Inversion Selection” of fixed
motion parameter 17 to “ON”.
Pattern (A)
Pattern (B)
Low
Deceleration
LS
Full Motion Range of Machine
Reverse Forward
High
High Deceleration
LS
Total Motion Range of
Machine
Reverse Forward
Low