7
Motion Commands
7.2.3
Zero Point Return (ZRET)
7-18
( 5 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting SVR
OB

000
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW

08) to 3.
OW

03
Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08
Motion Command
Positioning starts when this parameter is set to 3.
The operation will be canceled if this parameter is set to 0 during ZRET command
execution.
OB

091
Command Abort
The axis will decelerate to a stop if this bit is set to 1 during ZRET command
execution.
OB

095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW

08) to 3.
OL

36
Linear
Acceleration Time
Set the rate of acceleration or acceleration time constant for positioning.
OL

38
Linear
Deceleration Time
Set the rate of deceleration or deceleration time constant for positioning.
OW

3A
S-Curve
Acceleration Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW

03.
Change the setting only after pulse distribution has been completed for the command
(IB

0C0 is ON).
OW

3D
Home Window
Set the width in which the Zero Point Position bit (IB

0C4) will turn ON.
Parameter Name Monitor Contents SVR
IB

001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL

02
Warning Stores the most current warning.
IL

04
Alarm Stores the most current alarm.
IW

08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code is 3 during ZRET command execution.
IB

090
Command Executing
The Command Executing bit will turn ON during ZRET command execution and
then turn OFF when command execution has been completed.
IB

091
Command Hold
Completed
Always OFF for ZRET command.
IB

093
Command Error End
Turns ON if an error occurs during ZRET command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another
command is executed.
IB

098
Command Execution
Completed
Turns ON when ZRET command execution has been completed.
IB

0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB

0C3
Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL

20).
OL

20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
OL

20
â‰
0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
IB

0C4
Zero Point Position
Turns ON if the current position after the zero point return operation has been
completed is within the Zero Point Position Output Wide from the zero point
position. Otherwise, it turns OFF.
IB

0C5
Zero Point Return
Completed
Turns ON when the zero point return has been completed.
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
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