Yaskawa JAPMC-MC2300 User Manual
Page 185
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-45
7
Motion Commands
Parameters to be Set
[ k ] P-OT Signal Method (OW
3C = 13)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the positive direction until the stroke limit is reached.
When the P-OT signal is detected, the direction is reversed to return at positioning speed.
When a change in the P-OT signal status from ON to OFF is detected during the return, the positioning is performed.
When the positioning has been completed, a machine coordinate system is established with the final position as the
zero point.
The moving amount after a change in the P-OT signal status is detected is set in the Zero Point Return Travel Dis-
tance. The positioning speed is set in the Speed Reference Setting.
If a negative value is set for the approach speed, the command will end in an error.
If an OT signal is detected during the positioning speed operation, an OT alarm will occur.
Detecting the change in the OT signal status is performed using software processing. The position where positioning
is completed will depend on the high-speed scan setting, positioning speed, etc. Do not use this method if repeat
accuracy is required in the position where the zero point return operation is completed.
Parameter
Name
Setting
OW
03,
Bits 0 to 3
Speed Unit Selection
Select the setting unit for OL
10 (Speed Reference Setting), OL
3E
(Approach Speed), and OL
40 (Creep Rate).
0: Reference unit/s
1: 10
n
reference units/min
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
OL
10
Speed Reference
Setting
Set the positioning speed to use after detecting the phase-C pulse. The sign
is ignored.
The travel direction will depend on the sign of the Zero Point Return Travel
Distance.
Setting to 0 or a negative value will result in an error.
OW
18
Override
This parameter allows the travel speed to be changed without changing the
Speed Reference Setting (OL
10). The setting can be changed during
operation.
Setting range: 0 to 32767 (0 to 327.67%)
Setting unit: 1 = 0.01% (Example): Setting value for 50%: 5000
OW
3C
Zero Point Return
Method
12: P-OT & Phase-C Pulse Method
OL
3E
Approach Speed
Set the speed to be used at zero point return start. Only a positive value can
be set. 0 or a negative value will result in an error.
OL
40
Creep Rate
Set the speed to return in the reverse direction after detecting the P-OT sig-
nal. The sign is ignored, and the axis moves in the negative direction.
Setting to 0 will result in an error.
OL
42
Zero Point Return Travel
Distance
Set the travel distance from the point where a phase-C pulse is detected.
The travel direction will depend on the sign.
N-OT (DI_4)
P-OT (DI_3)
Start
Zero Point
Approach Speed
(OL
3E)
Zero Point Return
Travel Distance
(OL
42)
Speed Reference Setting
(OL
10)