YASKAWA MP2200

5.2
Motion Command Details
5-49
（Note） Reverse type in : Parameters only for the SVA-01 Module.
[ q ] INPUT Signal Method (OW

3C = 19)
Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the
rising edge of the INPUT signal is detected, positioning is performed at the 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 INPUT signal is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference. If an OT signal is detected during creep 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.
The INPUT signal is allocated to the motion setting parameter OB

05B, allowing the zero point
return operation to be performed without actually wiring a signal. This method can thus be used to
temporarily set the zero point during trial operation.
Detecting the rising edge of the INPUT signal is performed using software processing. The position
where positioning is completed will vary with 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.
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

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. 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 turned ON from the ladder program.
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