Yaskawa JAPMC-MC2300 - Manual (Page 193)

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
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Motion Commands
[ p ] INPUT & Phase-C Pulse Method (OW 3C = 18)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the direction specified by the sign of the approach speed.
When the rising edge of the INPUT signal is detected, the speed is reduced to the creep speed. And, the travel direction
depends on the sign of the creep speed.
When the first phase-C pulse is detected after the falling edge of the INPUT signal, the positioning is performed at
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 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 an OT signal is detected during approach speed operation, an OT alarm will not occur, the direction will be
reversed, and a search will be made for the INPUT signal.
If an OT signal is detected during creep speed or positioning speed operation, an OT alarm will occur.
<Detecting the OT Signal during Approach Speed Movement>
The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
Zero Point Return Input signal (OW 05, bit B)
Start Zero Point
Phase-C pulse
N-OT (DI_4)
P-OT (DI_3)
Approach Speed
(OL 3E)
Creep Rate
(OL 40)
Speed Reference Setting
(OL 10)
Zero Point Return
Travel Distance
(OL 42)
Start
Zero Point
Speed Reference Setting (OL 10)
Phase-C pulse
N-OT (DI_4)
P-OT (DI_3)
Approach Speed
(OL 3E)
(OL 42)
Approach Speed
(OL 3E)
(OL 40)
Zero Point Return
Input signal
(OW
05, bit B)
Creep Rate
Zero Point Return
Travel Distance