Yaskawa JAPMC-MC2300 User Manual
Page 186
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-46
<Starting on the Positive Stroke Limit (P-OT)>
The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
Parameters to be Set
Parameter
Name
Setting
OW
03
Bits 0 to 3
Speed Unit Selection
Select the setting unit for OL
10 (Speed Reference Setting) and
OL
3E (Approach Speed).
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 P-OT signal. 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 (OL
10). The setting can be changed during operation
moving.
Setting range: 0 to 32767 (0 to 327.67%)
Setting unit: 1 = 0.01%
OW
3C
Zero Point Return
Method
13: P-OT Only 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
42
Zero Point Return Travel
Distance
Set the travel distance from the point where P-OT signal is detected.
The travel direction will depend on the sign. Always set to a negative value
when using P-OT Only Method.
P-OT (DI_3)
Start
Zero Point
N-OT (DI_4)
Zero Point
Return Travel
Distance
(OL
42)
Speed Reference
Setting
(OL
10)