Yaskawa JAPMC-MC2300 User Manual
Page 191
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
7-51
7
Motion Commands
[ n ] N-OT & Phase-C Pulse Method (OW
3C = 16)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the negative direction until the stroke limit is reached.
When the N-OT signal is detected, the direction is reversed to return at the creep speed.
When the phase-C pulse is detected during the return after passing the N-OT signal, 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 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 a positive 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.
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), 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 a 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
16: N-OT & Phase-C Pulse Method
OL
3E
Approach Speed
Set the speed to be used at zero point return start.
Only a negative value can be used. Setting to 0 or a positive value will
result in an error.
OL
40
Creep Rate
Set the speed after the N-OT signal is detected. The sign is ignored.
The axis travels in the forward 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.
Phase-C pulse
N-OT (DI_4)
P-OT (DI_3)
Start
Zero Point
Creep Rate
(OL
40)
Zero Point Return
Travel Distance
(OL
42)
Speed Reference Setting
(OL
10)
Approach Speed
(OL
3E)