Yaskawa MP940 Reference Manual User Manual
Page 473
Zero-point Return (ZRET)
MotionSuite™ MP940 Machine Controller Reference Manual
11-76
•
After power ON, the machine cannot return correctly if it is in range B.
Perform zero-point return after returning the machine to range A.
•
The deceleration LS band needs to be at least 2× the high-speed scan set-
ting.Calculate the scale of the deceleration LS band (L) by the following
formula.
When the range set in “zero-point return final run distance” is too short,
overrun occurs at one end, and an operation takes place to return to the
zero-point.
Ts(s)= High-speed Scan Setting (ms)/1000
F(m/s)= k×{NR×n×FBppr}/60
F
:
100% Speed (m/s)
K
:
Weight of 1 Pulse1 (m/pulse)
NR
:
Rated Speed (rpm)
FBppr
:
Feedback Pulse Resolution (ppr)
N
:
Pulse Multiple (1, 2, 4)
t(s)= Linear Accel/Decel Time (s)
#alpha#(m/s
2
)= f/t
#alpha# :
when an accel/decel time constant of
(m/s 2) is assumed,
is obtained by L = 1/2·#alpha#(2×Ts
)2
=
2#alpha#Ts
2
.