Yaskawa MP2200 Machine Controller User Manual Page 256
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5
Motion Commands
5.2.3
Zero Point Return (ZRET)
5-26
■
Starting the Zero Point Return in Region B
1. The axis travels in the reverse direction at the Approach Speed (setting parameter
OL
3E).
2. When the falling edge of the Reverse Limit signal is detected, the axis decelerates to a
stop.
3. After decelerating to a stop, travel starts in the forward direction at the speed specified
by the Speed Reference (setting parameter OL
10).
4. When the falling edge of the DEC1 signal is detected, the axis decelerates to a stop.
5. After decelerating to a stop, the axis travels in the reverse direction at the Approach
Speed (setting parameter OL
3E).
6. When the rising edge of the DEC1 signal is detected, the axis decelerates to a stop.
7. After decelerating to a stop, the axis travels in the forward direction at the Creep
Speed (setting parameter OL
40).
8. After the falling edge of the DEC1 signal is detected, the position is latched when the
rising edge of the ZERO signal is detected.
9. The axis moves from the latched position by the distance set in the Home Offset
(setting parameter OL
42) and stops. The machine coordinate system is
established with this final position as the zero point.
If an OT signal is detected during the zero point return operation, an OT alarm will occur.
Home Offset
Region A Region B Region C Region D Region E
Start
DEC1
(DI_5 or OW
05, bit 8)
N-OT
(DI_4)
P-OT
(DI_3)
End
Speed Reference
(OL10)
ZERO signal
latch at this point
Creep Speed
(OL40)
Approach Speed
(OL3E)
Approach Speed
(OL3E)
Reverse Limit
(OW05, bit 9)
Forward Limit
(OW05, bit 10)
ZERO signal
(DI_2)
IMPORTANT
- Motion Module User’s Manual 1
- Using this Manual 3
- Manual Configuration 4
- Related Manuals 6
- Safety Information 7
- Safety Precautions 8
- Storage and Transportation 9
- Installation 9
- 外部配線の分離例 10
- Maintenance and Inspection 11
- Disposal 11
- Variable Tables 13
- Simulate 23
- CONTENTS 29
- Control Block Diagrams 31
- Absolute Position Detection 31
- SVR Virtual Motion Module 32
- Utility Functions 32
- Troubleshooting 33
- Appendix 33
- Motion Module Overview 35
- 1.1 List of Motion Modules 36
- 1.2.1 Overview 38
- 1.2.2 Features 38
- 218IF LIO-01SVB-01 39
- ( 1 ) SERVOPACKs 40
- ( 2 ) I/O Modules 40
- ( 1 ) Overview 41
- 1.3.1 Overview 43
- 1.3.2 Features 44
- Servos for 2 axes 45
- 1.4.1 Overview 46
- 1.4.2 System Configuration 46
- 01 Modules 47
- 2.1.1 General Specifications 48
- ( 2 ) Function Lists 49
- ( 1 ) External Appearance 52
- ( 2 ) Indicators 52
- ( 3 ) Switch Settings 53
- 2.1.3 Module Connections 54
- Module Connections 56
- MECHATROLINK-MECHATROLINK 57
- 2.2.1 General Specifications 60
- Item Details 63
- Item Contents Remarks 63
- 2.2.3 Module Connections 65
- + side (pin number 2) 66
- [ f ] Cables 67
- Cable Connections Diagram 68
- JEPMC-W2040-05: 0.5 m 70
- JEPMC-W2040-10: 1.0 m 70
- JEPMC-W2040-30: 3.0 m 70
- SGDM / SGDH / SGDS 71
- 3.1 SVB-01 Module Setup 74
- 3.1.2 Self-configuration 75
- Example for the MP2200 76
- SERVOPACK, I/O, inverter 77
- • Master 78
- • Slaves 78
- [ a ] Motion Fixed Parameters 82
- [ c ] SERVOPACK Parameters 83
- ( 3 ) MECHATROLINK Settings 86
- Number of retry to slaves 87
- I/O Map Tab Page 89
- Status Tab Page 90
- ( 4 ) SVB Definitions 91
- Update Current Value 93
- SERVOPACK Tab Page 95
- 3.2 SVA-01 Module Setup 98
- MP2300 Example 99
- MP2200 Example 100
- SVA-01 Module Setup 101
- [ a ] Setting Items 102
- ( 3 ) SVA Definitions 103
- IMPORTANT 104
- Fixed Parameters Tab Page 105
- Set Up Parameters Tab Page 106
- Monitor Tab Page 107
- N-OT/general-purpose input 109
- P-OT/general-purpose input 109
- Setting/Monitoring Parameters 111
- [ b ] SGDB 112
- [ c ] SGDM 112
- [ d ] SGDS 113
- Therefore; 115
- 3.3 SVR Module Setup 116
- SVR Module Setup 117
- Setting Details 117
- [ c ] Monitor Tab Page 118
- Motion Module Setup 120
- Motion Parameters 121
- (cont’d) 123
- 4.2 Motion Parameter Lists 125
- 4.2.1 Fixed Parameter List 125
- 4.2.2 Setting Parameter List 127
- 1 = 1 reference unit 131
- ( 1 ) Run Mode 137
- ( 2 ) Function Selection 1 137
- ( 3 ) Function Selection 2 139
- ( 4 ) Reference Unit Settings 139
- ( 6 ) Software Limits 140
- ( 7 ) Backlash Compensation 141
- ( 8 ) SERVOPACK Settings 141
- ( 9 ) Encoder Settings 142
- Latch signal 143
- ( 2 ) Mode 1 145
- ( 3 ) Mode 2 145
- ( 4 ) Function 1 146
- ( 5 ) Function 2 147
- ( 6 ) Function 3 147
- Position 148
- ( 9 ) Motion Subcommands 150
- ( 10 ) Torque Reference 150
- ( 11 ) Speed Reference 151
- ( 14 ) Speed Override 152
- Related Parameters 153
- ( 20 ) Phase Compensation 155
- ( 21 ) Latch 156
- ( 22 ) Gain and Bias Settings 156
- NS100/NS115 157
- (OL42) 160
- ( 26 ) Step Distance 161
- ( 29 ) SERVOPACK User Monitor 162
- ( 30 ) SERVOPACK Commands 163
- ( 31 ) Supplemental Settings 164
- ( 1 ) Drive Status 165
- ( 3 ) Warning 166
- ( 4 ) Alarm 167
- ( 6 ) Motion Command Status 169
- Range Unit 171
- ( 10 ) Position Information 172
- ( 11 ) Reference Monitor 173
- ( 12 ) SERVOPACK Status 174
- ( 13 ) SERVOPACK Information 175
- ( 14 ) SERVOPACK I/O Monitor 176
- ( 8 ) Hardware Signals 184
- ( 9 ) Pulse Measurement 185
- ( 10 ) D/A Outputs 185
- ( 11 ) A/D Inputs 185
- ( 12 ) Servo Driver Settings 186
- ( 13 ) Encoder Settings 187
- ( 14 ) Feedback Speed 187
- ( 1 ) Run Commands 188
- ( 3 ) Function 1 190
- ( 4 ) Function 2 190
- ( 5 ) Function 3 191
- ( 6 ) Motion Command 191
- ( 8 ) Motion Subcommand 193
- ( 9 ) Torque Reference 193
- ( 10 ) Speed Reference 194
- ( 13 ) Speed Override 195
- ( 15 ) Position Reference 196
- ( 19 ) Position Compensation 198
- ( 21 ) Phase Compensation 198
- ( 22 ) Latch 199
- ( 23 ) Gain and Bias Settings 199
- ( 25 ) Filters 201
- ( 26 ) Zero Point Return 202
- ( 27 ) Step Distance 203
- ( 30 ) Supplemental Settings 204
- ( 33 ) Various Data 206
- ( 34 ) Stop Distance 206
- ( 11 ) Speed Information 216
- ( 13 ) Position Information 2 217
- ( 18 ) Monitor Data 219
- ( 1 ) Reference Unit 220
- ( 2 ) Electronic Gear 220
- Setting Examples 221
- Setting Example 221
- ( 3 ) Axis Type Selection 223
- ( 4 ) Position References 224
- ( 5 ) Speed Reference 225
- Motion Commands 231
- 5.1 Motion Commands 232
- 5.1.1 Motion Command Table 232
- 5.2 Motion Command Details 234
- ( 2 ) Holding 235
- ( 3 ) Aborting 235
- ( 4 ) Related Parameters 235
- [ b ] Monitoring Parameters 236
- ( 5 ) Timing Charts 237
- [ d ] Command Hold 238
- ( 1 ) Operating Procedure 239
- If an OT signal is 248
- (setting parameter OL 251
- ZERO signal 252
- Related Parameters 253
- Phase-C signal 261
- The positioning 272
- (OLxx42) 273
- The positioning 276
- [ q ] INPUT Signal Method (OW 279
- 3C = 19) 279
- ( 3 ) Operating Procedure 281
- ( 4 ) Holding 281
- ( 5 ) Aborting 281
- ( 6 ) Related Parameters 282
- ( 7 ) Timing Charts 284
- Motion Command Details 285
- ( 2 ) Holding and Aborting 286
- ( 3 ) Related Parameters 287
- ( 4 ) Timing Charts 288
- 5.2.5 Latch (LATCH) 289
- 5.2.6 JOG Operation (FEED) 294
- 5.2.7 STEP Operation (STEP) 297
- [ b ] Execution when Aborted 301
- The Command Pause bit (OB 326
- 091) cannot be used 326
- [ d ] Execution for Pausing 333
- [ b ] Executed when Aborted 337
- [ c ] Execution when Pausing 338
- SVB-01 339
- SVA-01 339
- 5.3 Motion Subcommands 346
- 5.3.3 No Command (NOP) 347
- (SMON) for details 347
- ( 2 ) Related Parameters 348
- ( 3 ) Timing Charts 349
- 5.3.6 Monitor Status (SMON) 352
- 6.1.1 Position Control 358
- Reference unit 0 359
- [ c ] Monitoring Parameters 361
- Step Distance 362
- SERVOPACK 363
- 6.1.2 Phase Control 364
- Phase Control 366
- (continued on next page) 368
- 6.1.3 Torque Control 370
- [ b ] Setting Parameters 371
- Torque reference operation 375
- Speed reference operation 375
- 6.1.4 Speed Control 376
- OL10: Speed Reference 382
- Speed Control 384
- 7.1.2 Basic Terminology 386
- ( 2 ) SERVOPACK Parameters 388
- ( 3 ) Detailed Descriptions 389
- (White/orange) 393
- (White/gray) 393
- 7.3.1 Finite Length Axis 397
- Multiturn data 398
- Using an Absolute Encoder 399
- Finite Length Axis 400
- Save to save the settings to 401
- 7.3.2 Infinite Length Axis 402
- Conditions 404
- Is Not Used 406
- [ a ] Normal Operation 408
- Infinite Length Axis 410
- 8.1.1 Overview 418
- 8.1.2 System Configuration 419
- ( 2 ) Using the MP2200 420
- 8.1.3 SVR Operation 421
- 8.2 Motion Parameters 422
- ( 1 ) Motion Fixed Parameters 424
- [ f ] Gear Ratio 425
- [ h ] Encoder Settings 425
- [ a ] RUN Commands 426
- [ b ] Function 1 426
- [ c ] Motion Command 426
- [ e ] Motion Subcommands 427
- [ f ] Torque Reference 427
- [ g ] Speed Reference 427
- [ i ] Position Reference Type 428
- [ j ] Speed Amends 428
- [ l ] Filters 428
- system 429
- [ a ] Drive Status 430
- [ c ] Warning 430
- [ d ] Alarm 430
- [ f ] Motion Command Status 431
- [ j ] Position Information 432
- [ k ] SERVOPACK Information 2 432
- 8.3 Motion Commands 433
- 8.3.1 Motion Commands List 433
- 8.3.2 Motion Command Details 434
- [ b ] Related Parameters 435
- Monitoring Parameters 436
- [ a ] Operating Procedure 437
- ( 5 ) Latch (LATCH) 443
- ( 6 ) JOG Operation (FEED) 445
- ( 7 ) STEP Operation (STEP) 447
- ( 9 ) Speed Reference (VELO) 450
- ( 10 ) Torque Reference (TRQ) 451
- ( 12 ) Other Commands 454
- 8.4 Sample Programming 455
- 8.4.2 Checking Operation 456
- Servo ON 457
- Confirm operation 457
- Start JOG or STEP operation 457
- 8.4.3 Sample Program Details 458
- ( 2 ) H01 Drawing 459
- ( 3 ) H02 Drawing 460
- ( 4 ) H02.01 Drawing 461
- Sample Program Details 462
- ( 5 ) H02.02 Drawing 463
- 9.1.1 Overview 466
- ( 1 ) Connection Example 467
- ( 2 ) Parameter Settings 467
- 9.1.3 Connections to 470
- Series SGDB SERVOPACK 470
- 9.1.4 Connections to 473
- Series SGD or SGDA SERVOPACK 473
- 9.2 Overtravel Function 476
- 9.2.3 Parameter Settings 478
- Dynamic brake 479
- SERVOPACK 480
- 9.3 Software Limit Function 481
- ( 1 ) Alarm Information 482
- (MP2200/MP2300 to SERVOPACK) 483
- 10.1 Motion Errors 488
- ( 2 ) Motion Error Type 2 489
- SVA-01 Module 490
- SERVOPACK alarms 491
- ( 4 ) Analog Servo Alarm List 496
- Motion Errors 497
- Code Alarm Name Alarm Content 499
- 04 Bit 1 and Bit 2) 500
- 26) is set to 0 502
- 22) is set to 0 503
- 10.1.2 504
- 10.1.3 Motion Program Alarms 506
- 10.2 Error Detection 512
- 10.2.2 516
- SVA-01 Module LED Indicators 516
- Appendix A 517
- Appendix A.3 522
- Revision History 527
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