YASKAWA MP2100 Series - Page 236

8.4 Zero Point Return (ZRET)
8-27
8
(l) INPUT & C Pulse Method
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 creep speed. When the first phase-C pulse
is detected after the falling edge of the INPUT signal, positioning is performed at positioning speed. When
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 Home Offset. The positioning speed is set
in the Speed Reference. 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 positioning speed operation, an OT alarm will occur.
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
Note: The stopping method when the OT signal is detected depends on the setting of
SERVOPACK
parameters.
INPUT signal (OB05B)
Start Zero Point
Creep Speed
(OL40)
Home Offset
(OL42)
Positioning Speed
(OL10)
Phase-C pulse
Approach Speed
(OL3E)
INPUT signal (OB05B)
Start
Zero Point
Creep Speed
(OL40)
Home Offset
(OL42)
Positioning Speed (OL10)
Phase-C pulse
Approach Speed
(OL3E)
Approach Speed
(OL3E)
NOT
*2
POT
*1
NOT
*2
POT
*1
Parameter Name Setting
OW

3C Home Return Type
18
:
INPUT & C pulse Method
OL

10 Speed Reference 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

3E Approach Speed Set the speed to use when starting a zero point return. The travel direction will
depend on the sign of the approach speed.
OL

40 Creep Speed Set the speed to use after detecting the INPUT signal. The travel direction will
depend on the sign of the creep speed.
OL

42 Home Offset Set the travel distance from the point where a phase-C pulse is detected. The travel
direction will depend on the sign.
OB

05B INPUT Signal for Zero
Point Return
This signal must be set to 1 from the ladder program.