YASKAWA MECHATROLINK Sigma 2 Series - Zero Point Return (ZRET: 3 AH)

4.3 Main Commands
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4.3.29 Zero Point Return (ZRET: 3AH)
Note: Refer to 4.5.5 IO Monitor Field Specifications: IO_MON for details of DEC.
Byte ZRET Description
Command Response
1 3AH 3AH Processing
classifications
Motion command
group
Synchronization
classifications
Asynchronous
2 LT_SGN ALARM Processing time Within communi-
cations cycle
Subcommand Can be used.
3OPTIONSTATUS• Accelerates to the target speed (TSPD) in the direction specified in the param-
eter (Pn816) and continues to move at the target speed.
• Decelerates to approach speed 1 (Pn817) at the DEC = 1.
• Latch operation will start at the DEC = 0.
• When a latch signal is input, zero point return approach speed 2 (Pn818) is
used and positioning is performed for the target position specified in the final
travel distance to return to zero point (Pn819). When positioning is completed,
that position is zero point.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the fol-
lowing cases.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF:
MECHATROLINK-II command warning (A.95)
- If the target speed (TSPD) exceeds the limit: Parameter setting
warning (A.94)
- If LTMOD_ON/OFF is received during ZRET execution or
simultaneously: MECHATROLINK-II command warning (A.95)
(the LTMOD_ON/OFF commands will be ignored.)
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications:
OPTION for details.
• The target speed (TSPD) is an unsigned 4 bytes. It is set using units/s.
• Before DEC is input, the target speed during motion can be changed.
• Use DEN (output complete) and ZPOINT (zero point) to confirm the comple-
tion of position reference output.
• If ZRET command is received during modal latch mode, the ZRET command
is enabled.
4
5 MONITOR1
6
7
8
9 TSPD MONITOR2
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16 WDT RWDT
17 For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
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