Yaskawa JAPMC-MC2300 - Manual (Page 179)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
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7
Motion Commands
Starting the Zero Point Return in Region C
1.
The axis travels in the reverse direction at the Creep Rate (setting parameter OL 40).
2.
When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
3.
After decelerating to a stop, the axis travels in the forward direction at the Creep Rate (setting parame-
ter OL
40).
4.
After the falling edge of the DEC1 signal is detected, the position is latched when the rising edge of the
first phase-C pulse is detected.
5. 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.
Zero Point Return Travel Distance
Region A Region B Region C Region D Region E
Start
DEC1
N-OT
(DI_4)
P-OT
(DI_3)
End
(DI_5 or OW 05, bit 8)
Phase-C signal
Creep Rate (OL 40)
Phase-C 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)