YASKAWA MP2200

5
Motion Commands
5.2.3
Zero Point Return (ZRET)
5-20
（Note） Reverse type in : Parameters only for the SVA-01 Module.
[ d ] C-Phase Method (OW

3C = 3)
Travel is started at the approach speed in the direction specified in the parameters. When the rising
edge of the phase-C pulse is detected, the speed is reduced to the creep speed and positioning is
performed. 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. If an OT signal is
detected during the zero point return operation, an OT alarm will occur.
* 1. The SERVOPACK P-OT signal.
* 2. The SERVOPACK N-OT signal.
OB

058
Deceleration LS Signal
(DEC1) for Zero Point
Return
When bit 0 of fixed parameter No. 21 is 0, input the DEC1 signal
from the ladder program.
NOT
*2
POT
*1
Start
Zero Point
Creep Speed
(OL40)
Home Offset
(OL42)
Phase-C pulse
Approach Speed
(OL3E)
Parameter Name Setting
OW

3C
Home Return Type
3
:
C-Phase Method
OB

093
Home Direction
Set the zero point return direction.
OL

3E
Approach Speed
Set the speed to use when starting a zero point return. Only a positive
value can be set; a negative value will result in an error.
OL

40
Creep Speed
Set the speed to use after detecting the phase-C pulse. Only a positive
value can be set; a negative value will result in an error.
OL

42
Home Offset
Set the travel distance from the point where a phase-C pulse is detected.
If the sign is positive, travel will be toward the zero point return direction;
if the sign is negative, travel will be away from the zero point return
direction.
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