Yaskawa JAPMC-MC2300 - Manual (Page 168)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-28
[ f ] DEC1 + LMT + ZERO Signal Method (OW 3C = 5)
With this method, the machine's position is confirmed by the ON/OFF status of the DEC1, Reverse Limit, and Forward
Limit signals and the retracting operation is performed automatically, so the zero point return is always performed with
the same conditions.
Starting the Zero Point Return in Region A
1.
Travel is started in the positive direction at the speed specified by the Speed Reference Setting (setting
parameter OL
10).
2.
When the falling edge of the DEC1 signal is detected, the axis decelerates to a stop.
3. After decelerating to a stop, the axis travels in the reverse direction at the Approach Speed (setting
parameter OL
3E).
4.
When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
5.
After decelerating to a stop, the axis travels in the forward direction at the Creep Rate (setting param-
eter OL
40).
6.
After the falling edge of the DEC1 signal is detected, the position is latched when the rising edge of the
ZERO signal is detected.
7. The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance
(setting parameter OL
42) and stops. The machine coordinate system is established with this final
position as the zero point.
If an OT signal is detected during the zero point return operation, an OT alarm will occur.
The command will end in an error at the start of the Zero Point Return operation if the status of the DEC1, For-
ward Limit, and Reverse Limit signals is not the same as the status shown in the diagram above.
Zero Point Return Travel Distance
Region A
Region B
Region C Region D Region E
Start
DEC1
(DI_5 or OW 05, bit 8)
N-OT
(DI_4)
P-OT
(DI_3)
Approach Speed (OL 3E)
End
Speed Reference
Setting
(OL 10) ZERO signal
latch at this point
Creep Rate
(OL 40)
Zero Point Return Reverse
Run Side Limit Signal
(OW 05, bit 9)
Zero Point Return Forward
Run Side Limit Signal
(OW 05, bit 10)
ZERO signal
(DI_2)