G ] pot only method (ow 3c = 13) – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 188
6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-27
Motion Commands
[ g ] POT Only Method (OW
3C = 13)
Operation after Zero Point Return Starts
Travel is started at the approach speed in the positive direction until the stroke limit is reached.
When the P-OT signal is detected, the direction is reversed to return at Positioning speed.
When a change in the P-OT signal status from ON to OFF is detected during the return, 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 a change in the P-OT signal status is detected is set in the Zero Point Return Travel Dis-
tance. The positioning speed is set in the Speed Reference.
If a negative 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.
Detecting the change in the OT signal status is performed using software processing. The position where positioning
is completed will depend on the high-speed scan setting, positioning speed, etc. Do not use this method if repeat
accuracy is required in the position where the zero point return operation is completed.
<Starting on the Positive Stroke Limit (P-OT)>
* 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
13: P-OT Only Method
OL
10
Speed Reference
Setting
Set the positioning speed to use after detecting the P-OT signal. The sign is
ignored.
The travel direction will depend on the sign of the Zero Point Travel Distance.
OL
3E
Approach Speed
Set the speed to use when starting a zero point return.
Add a sign so that the travel direction will be positive.
OL
42
Zero Point Return
Travel Distance
Set the travel distance from the point where the P-OT signal is detected.
The travel direction will depend on the sign.
N-OT
*2
P-OT
*1
Start
Zero Point
Approach Speed
(OL
3E)
Zero Point Return
Travel Distance
(OL
42)
Positioning Speed
(OL
10)
P-OT
∗1
Start
Zero Point
N-OT
∗2
Zero Point Return
Travel Distance
(OL
42)
Positioning Speed
(OL
10)