Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 186)

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-25
Motion Commands
[ e ] C Pulse Only Method (OW 3C = 11)
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
phase-C pulse 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 phase-C pulse is detected is set in the Zero Point Return Travel Distance. The posi-
tioning speed is set in the Speed Reference.
If an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction will be reversed,
and a search will be made for the phase-C pulse.
If an OT signal is detected during positioning speed operation, an OT alarm will occur.
<OT Signal Detected during Creep Speed Operation>
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters.
Setting Parameters
Parameter Name Setting
OW 3C
Zero Point Return
Method
11: C Pulse Only Method
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 Home Offset.
OL 40 Creep Rate
Set the speed and travel direction (sign) to use when starting a zero point
return.
OL 42
Zero Point Return
Method 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 *2
P-OT *1
Start Zero Point
Creep Rate
(OL 40)
Positioning Speed
(OL 10)
Zero Point Return Travel Distance
(OL 42)
Phase-C pulse
N-OT *2
P-OT *1
Start Zero Point
Positioning Speed
(OL 10)
Home Offset
(OL 42)
Creep Rate
(OL 40)
Creep Rate
(OL 40)