Yaskawa JAPMC-MC2300 - Manual (Page 188)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-48
Parameters to be Set
Parameter Name Setting
Fixed Parameter
No.1, Bit 5
Deceleration LS
Inversion Selection
Set whether or not to invert the polarity of DI_2 signal that is used for
HOME signal.
0: Do not invert
1: Invert
However, the deceleration limit switch signal for zero point return
(OW
05, bit 8) will not be inverted even if this bit is set to 1 (Invert).
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%
OW 3C
Zero Point Return
Method
14: HOME LS & Phase-C Pulse Method
OL 3E Approach Speed
Set the speed to be used at zero point return start.
The travel direction depends on the sign of the approach speed.
Setting to 0 will result in an error.
OL 40 Creep Rate
Set the speed and travel direction after the HOME signal is detected.
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.