Yaskawa MP920 User's Manual Design - Manual (Page 139)

4.2 Control Modes
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4
c) When LSDEC turns from ON to OFF, the point detected by the initial zero point pulse
(C-phase pulse) is the zero point position. The axis is decelerated to a stop after
detecting the initial zero point pulse.
d) After decelerating to a stop, the axis is moved only the zero point overtravel distance
at creep speed in the zero point position direction and stops at the zero point position.
A zero point position offset value can also be set. (If Zero Point Position Offset
OL††06 is set in advance to 100, the position data will be 100.)
5. The zero point return operation is completed when the axis enters the positioning com-
pleted range. When the zero point return operation is completed, the Zero Point Return
Completed Signal ZRNC (bit F of IW††00) turns ON.
After checking that the zero point return completion signal (ZRNC) is turned ON, set the
RUN command (RUN) and the zero return mode (ZRN) to OFF.
„ User Program Example
Example of RUN Operation
Fig. 4.11 Zero Point Return Pattern
0
NR
(100%)
NACC NDEC
Napr
Nclp
Speed
(%)
Approach speed
Creep speed
Time (t)