Yaskawa MP940 Reference Manual - Manual (Page 463)

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual
11-66
Operation when the transition signal (deceleration LS) is in the high
range at zero-point return operation start
1. Moves in a positive direction at fast feed speed.
2. Decelerates at the downward transfer of the transition (deceleration LS)
signal.
3. Moves in a reverse direction at approach speed.
4. Decelerates at the upward transfer of the transition (deceleration LS)
signal.
5. Moves in a forward direction at approach speed.
6. After detecting the downward transfer of the transition pulse (decelera-
tion LS), the axis moves from the initial zero-point signal by the final
zero-point return run distance (OLC02A) at the upward transfer of the
pulse transition, stops, then assumes that position as the machine coor-
dinate zero point.
Speed
Reference
0
Fast Feed
Speed 1.
Reverse Forward
Zero
Point
Creep Speed
Approach
Speed
Dog
Leg
(Deceleration LS)
Zero Point
Signal
(C-phase Pulse)
Time
2.
5.
4. 3.
6.
Zero-Point
Return
Zero Point Return
Final Run Distance