7.2
Motion Command Details
7-17
( 2 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
When an incremental encoder is selected for the Encoder Type by setting fixed
parameter No. 30 to 0, set the zero point return method that will be used in the Home
Return Type (motion setting parameter OW

3C) as described on the previous
page.

The software limit function will be enabled after the zero point return operation has been
completed.
3.
Refer to 7.2.3 ( 7 ) Zero Point Return Operation and Parameters on page 7-20 and set
the required parameters.
4.
Set OW

08 to 3 to execute the ZRET motion command.
The zero point return operation will start. IW

08 will be 3 during the operation.
IB

0C5 will turn ON when the axis reaches the zero point and zero point return has been
completed.
5.
Set OW

08 to 0 to execute the NOP motion command and then complete the zero
point return operation.
( 3 ) Holding
Holding execution is not possible during zero point return operation. The Command Pause bit
(OB

090) is ignored.
( 4 ) Aborting
The zero point return can be canceled by aborting execution of a command. A command is aborted
by setting the Command Abort bit (OB

091) to 1.
• Set the Command Abort bit (OB

091) to 1. The axis will decelerate to a stop.
• When the axis has decelerated to a stop the remain travel will be canceled and the Position-
ing Completed bit (IB

0C1) will turn ON.
• This type of operation will also be performed if the motion command is changed during axis
movement.
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 The Servo ON condition.
IB

001 is ON.
3 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
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