(k) Home position return command (ZRT)
Perform a home position return.
Set the home position with a parameter. (Refer to section 5.4.)
With the "ZRT" command, the program proceeds to the next step after the home position return
completion.
If the home position return has not completed successfully, [AL. 96 Home
position return incomplete warning] occurs. In this case, the program proceeds
to the next step without a stop. Since the home position return is incomplete, the
travel command is invalid.
Acceleration time constant
Deceleration time constant
Absolute value travel command
Dog type home position
return
Home position return
direction
"_ _ 0 _" (Address increasing direction)
"_ _ _ 1" (Detects dog when DOG (proximity dog)
is on.)
Home position return speed
Home position shift distance
Home position return
acceleration time constant
Home position return
deceleration time constant
Home position return position
data
Home position return speed
(100 r/min)
Acceleration time constant
of home position return
(100 ms)
Z-phase
Proximity dog
Position address
Deceleration time constant
of home position return
(200 ms)
Creep speed
(50 r/min)
b) Acceleration time constant
(200 ms)
a) Servo motor speed
(500 r/min)
c) Deceleration time
constant
(300 ms)
Home position return completion
0
500
e) Absolute value travel command
(500 × 10
STM
μ
m)
d) Home position return command
Servo motor
speed
Forward rotation
0 r/min
Reverse rotation
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