Yaskawa JAPMC-MC2300 - Manual (Page 189)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
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Motion Commands
[ m ] HOME LS Signal Method (OW 3C = 15)
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 HOME signal 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 rising edge of the HOME signal is detected is set in the Zero Point Return Travel Dis-
tance. The positioning speed is set in the Speed Reference Setting.
If an OT signal is detected during creep speed operation, an alarm will not occur, the direction will be reversed, and
a search will be made for the HOME signal.
If an OT signal is detected during positioning speed operation, an OT alarm will occur.
<Detecting the OT Signal during Creep Speed Movement>
The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
HOME signal (DI_2)
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)
HOME LS signal (DI_2)
N-OT (DI_4)
P-OT (DI_3)
Start Zero Point
Speed Reference Setting
(OL 10)
Zero Point Return
Travel Distance
(OL 42)
Creep Rate
(OL 40)
Creep Rate
(OL 40)