Yaskawa JAPMC-MC2300 - Manual (Page 183)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
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Motion Commands
[ i ] C Pulse Only Method (OW 3C = 11)
Operation after Zero Point Return Starts
Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the
phase-C pulse is detected, positioning is performed at the positioning speed.
When the positioning has been completed, a machine coordinate system is established with the final position as the
zero point.
The moving amount after the phase-C pulse is detected is set in the Zero Point Return Travel Distance. The posi-
tioning speed is set in the Speed Reference Setting.
If an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction will be reversed,
and a search will be made for the phase-C pulse.
If an OT signal is detected during positioning speed operation, an OT alarm will occur.
<OT Signal Detected during Creep Speed Operation>
The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
Phase-C pulse
N-OT (DI_4)
P-OT (DI_3)
Start Zero Point
Creep Rate
(OL 40)
Speed Reference Setting
(OL 10)
Zero Point Return
Travel Distance
(OL 42)
Phase-C pulse
N-OT (DI_4)
P-OT (DI_3)
Start Zero Point
(OL 10)
(OL 42)
Creep Rate
(OL 40)
Creep Rate
(OL 40)
Speed Reference Setting
Zero Point Return
Travel Distance