Inovance H3U Series - Page 507

506
7
7 Motion Control
DRVZ: Mechanical zero return
DRVZ: Mechanical zero return
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Overview
The x-, y-, and z-axes regress to the mechanical origin independently. Each axis searches for the DOG
signal and moves toward the origin (DOG). After a DOG signal is detected, the system decelerates to the
creep speed. After an origin signal is detected following DOG = OFF, the system immediately stops pulse
output.
DRVZ
Mechanical zero
return
Applicable Model:
H3U-PM
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Operands
None
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Functions and actions
Similar to DSZR, this instruction is nished and the next instruction can be executed only when the x-, y-,
and z-axes all return to the origin. Dedicated input/output signal is used during instruction execution.
The axis zero return disabling function can be used to disable the specied axis to return to the origin, and
allow other axes to return to the origin.
The special SM elements are dened in the following table.
X-axis Y-axis Z-axis Attribute
SM12 SM112 SM212 Flag of DRVZ zero return direction
SM18 SM118 SM218 Axis origin return disabled
The special SD elements are dened in the following table.
X-axis Y-axis Z-axis Attribute
SD10, SD11 SD110, SD111 SD210, SD211 Maximum speed (Vmax)
SD12 and SD13 SD112 and SD113 SD212 and SD213 Base speed (starting speed) (Vbias)
SD16 and SD17 SD116 and SD117 SD216 and SD217 Zero return speed (VRT)
SD18 and SD19 SD118 and SD119 SD218 and SD219 Zero return creep speed (VCR)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)
SD80 SD180 SD280 Selection of the input pole
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For details about the maximum speed, zero return speed, creep speed, and base speed, see
Page 704,
“A.2 Special Soft Element Register Range”
. The following rules must be followed:
① Base speed ≤ zero return speed ≤ maximum speed
② Base speed ≤ creep speed ≤ maximum speed
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Select appropriate parameters based on the set parameter value range. It is suggested that the creep
speed be smaller than or equal to the zero return speed.
① The zero return speed ranges from 10 to 200,000 Hz.