6 Basic Usage of Motion Instructions and G-codes
Motion
instruction
number
Applicable model
20PM
07
DRVZ
No operand
Returning home
There is no operand. The instruction can be followed by an M-code instruction.
Explanation
Before enabling DRVZ, users have to first set the following p
arameters. (Please
refer to the additional remark below for more information about special data
registers.)
When DRVZ is executed, the X-axis, the Y-axis, and the Z-axis return home.
1. V
RT
: Speed (V
RT
) at which an axis returns home
V
RT
cannot be modified during the execution.
Range: 0~500 kHz
Limitation: V
MAX
>V
RT
>V
BIAS
2. Speed (V
CR
) to which the speed of an axis decreases when the axis returns
home: When a DOG signal is triggered, speed of the axis specified will
decrease to the V
CR
set. In order to accurately stop at its home, it is
suggested the V
CR
set should be a low speed.
Range: 0~500 kHz
Limitation: V
CR
<V
RT
V
CR
cannot be modified during deceleration
3. Time it takes for the speed of an axis to increase to the V
RT
set.
4. Deceleration time: Time it takes for the V
RT
set decrease to the V
CR
set, and
the time it takes for the V
CR
set to 0.
5. Number of PG0 pulses for an axis: After DOG’s signal is generated, the
motor used will rotate for a specific number of PG0 pulses.
Range: 0~+32,767 pulses
6. Number of supplementary pulses for an axis: If the number of supplementary
pulses for an axis is a positive number, the axis specified will move in the
direction in which it returns home. If the v Number of supplementary pulses
for an axis is a negative value, the axis specified will move in the direction
which is opposite to the direction in which it returns home.
Range: -32,768~32,767 pulses
7. Make sure that the flags used to disable the X-axis and the Y-axis from
retuning home are set correctly.
Parameters below should be set in special data registers. D1816 is for the
X-axis, D1896 is for the Y-axis, and D1976 is for the Z-axis.
1. Direction in which the axis specified returns home:
Bit 8=0: The value indicating the present command position of an axis
specified decreases, and the axis returns home in the negative direction.
Bit 8=1: The value indicating the present command position of an axis
specified increases, and the axis returns home in the positive direction.
2. Mode of returning home: Bit 9=0: Normal mode; Bit 9=1: Overwrite mode
3. Mode of triggering the return to home :
Bit 10=0: The return to home is triggered by a transition in DOG’s signal from
high to low
Bit 10=1: The return to home is triggered by a transition in DOG’s signal from
low to high.
4. If point 2 and point 3 are combined, there will be four modes of returning
home. Please refer to section 3.12 for more information.
DVP-20PM Application
Manual
6-24
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