YASKAWA MP2200

5
Motion Commands
5.2.3
Zero Point Return (ZRET)
5-46
[ n ] NOT & Phase-C Pulse Method (OW

3C = 16)
Travel is started at the approach speed in the negative direction until the stroke limit is reached.
When the NOT signal is detected, the direction is reversed to return at creep speed. When the phase-
C pulse is detected during the return after passing the NOT signal, 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. The positioning
speed is set in the Speed Reference. If a positive 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.
* 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.
（Note） Reverse type in : Parameters only for the SVA-01 Module.
Positioning Speed
(OL10)
Approach Speed
(OL3E)
Phase-C pulse
NOT
*2
POT
*1
Start
Zero Point
Creep Speed
(OL40)
Home Offset
(OL42)
Parameter Name Setting
OW

3C
Home Return Type
16: NOT & 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

18
Speed Override
This parameter allows the Zero Point Return speed to be changed
without changing the Speed Reference (OL

10). Set the
override value as a percentage of the Speed Reference. This
setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%);
Setting unit: 1 = 0.01%
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 negative.
OL

40
Creep Speed
Set the speed to use after detecting the NOT signal. The travel direction
will be positive.
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.
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