YASKAWA SVC - Page 164

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-21
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. If an incremental encoder is used (i.e., if fixed parameter No. 30 (Encoder Selection) is
set to 0), refer to the table on the previous page and set the origin return method to use
in motion setting parameter OW3C (Zero Point Return Method).
3. Refer to the following section and set the required parameters.
Origin Return Methods and Parameters on page 4-25
4. Set the OW08 setting parameter (Motion Commands) to 3 to execute the ZRET
motion command.
The origin return operation will start. During the origin return operation, the IW08 monitor
parameter (Motion Command Response Code) is 3.
When the axis returns to the origin, bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter will change to 1 (Completed) and the origin return operation will end.
5. Set OW08 to 0 to execute the NOP motion command.
This concludes the origin return operation.
Holding
Holding execution of the ZRET command is not possible. Bit 0 (Hold Command) in the
OW09 setting parameter will be ignored.
Canceling
• To cancel an origin return operation, set bit 1 (Cancel Command) in the OW09 setting
parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
3
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
Software limits are enabled when the origin return operation is completed.
Information