YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-17
Motion Commands
( 2 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
* This condition is a basic execution condition. Refer to Chapter 7 Switching Commands during Execution when
changing the command that is being executed to a ZRET command.
2. When an incremental encoder is selected for the Encoder Selection Type by setting fixed parameter
No. 30 to 0, set the zero point return method that will be used in the Zero Point Return Method Home
(motion setting parameter OW3C) as described on the previous page.
 The software limit function will be enabled after the zero point return operation has been completed.
3. Refer to 6.2.3 ( 7 ) Zero Point Return Operation and Parameters and set the required parameters.
4. Set OW08 to 3 to execute the ZRET motion command.
The zero point return operation will start. IW08 will be 3 during the operation.
IB0C, bit5 will turn ON when the axis reaches the zero point and zero point return has been completed.
5. Set OW08 to 0 to execute the NOP motion command and then complete the zero point return
operation.
( 3 ) Holding
Holding execution is not possible during zero point return operation. The Holds a Command bit (OW09, bit 0) is
ignored.
( 4 ) Aborting
The zero point return can be canceled by aborting execution of a command. A command is aborted by setting the Inter-
rupt a Command bit (OW09, bit 1) to 1.
• Set the Interrupt a Command bit (OW09, bit 1) to 1. The axis will decelerate to a stop.
• When the axis has decelerated to a stop the remain travel will be canceled and the Positioning Completed bit
(IW0C, bit 1) will turn ON.
 This type of operation will also be performed if the motion command is changed during axis movement.
17
NOT Only
Uses only the negative overtravel sig-
nal.
N-OT: SERVOPACK N-OT signal
This method must not be used if repeat
accuracy is required.
6.2.3
( 7 ) [ k ]
18
INPUT & C
pulse
Uses the INPUT signal and phase-C
pulse.
INPUT: Setting parameter OW05, bit
B
6.2.3
( 7 ) [ l ]
19
INPUT Only
Uses only the INPUT signal.
With this method, a zero point return can
be performed without connecting an
external signal using setting parameter
OW05, bit B.
This method must not be used if repeat
accuracy is required.
6.2.3
( 7 ) [ m ]
(cont’d)
Setting
Parameter
OW3C
Name Method Signal Meaning Reference
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL02 and IL04 are 0.
2 The Servo ON condition. IW00, bit 1 is ON.
3
Motion command execution has been completed.
*
IW08 is 0 and IW09, bit 0 is OFF.

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English