Yaskawa MP940 Bedienungsanleitung PDF herunterladen (Seite 471)

11.4

Position Control Using Motion Commands

11-69

 ZERO Signal Method

Zero point return is performed using a ZERO signal (DI signal) in place of the Phase-C

pulse used in the Phase-C Pulse described above.

For details, see Phase-C Pulse.

The EXT2 signal of the SERVOPACK is used for the ZERO signal (DI signal).

 Example of the Zero Point Return Operations

Use the following procedure to perform zero point return operations.

The following illustration shows an example of the DEC1 + Phase-C pulse method.

1. Set the initial values for the motion fixed parameters and the motion setting parameters

according to the user's machine.

2. Set the Position Control Mode (PCON) (bit 2 of OWC000).

3. Set the motion setting parameter to be used with zero point return (ZRET).

4. Set Servo ON (RUN) to ON (bit 0 of OWC001).

5. Set zero point return (ZRET = 3) in the motion command code (OWC020).

6. Start operation using the zero point return (ZRET).

1. 2. 3. 4.

RUN

ZRET

ZRNC

1 Set the motion fixed parameters.

Set the motion setting parameter

initial values.

2 Set the position control mode

(PCON).

3 Set the motion setting parameters.

4 Set Servo ON (RUN) to ON.

5 Execute the zero point return

(ZRET) motion command.

6 The axis travels at rapid traverse

speed in the specified direction.

7 The axis decelerates to approach

speed at the trailing edge of the

deceleration limit switch signal.

8 The axis decelerates to creep

speed at the rising edge of the

deceleration limit switch signal.

9 When the deceleration limit switch signal

goes high, the axis stops after traveling only

the zero point return final travel distance from

the initial zero point signal, and that position

will be the machine coordinate system zero

point.

10 The zero point return completed

status (ZRNC) turns ON.

11 Execute the motion command

(NOP (= 0)).

Direction specified as the zero

point return direction (OBC0009)

Reverse Forward ←→

Zero point

Zero point return final

travel distance

Speed ref-

erence

Rapid traverse

speed

Approach

speed

Creep speed

Zero point

return posi-

tion

Time

Limit switch width 2

× Ts (Ts: High-speed

scan setting value)*2

≥

Zero point return

final travel distance

Dog (Decelera-

tion limit switch)

Zero point signal

(Phase-C pulse)

Positioning completed range

Area A Area B*1

: System execution

: User setting

1 2 ... 466 467 468 469 470 471 472 473 474 475 476 ... 521 522

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