YASKAWA SVC - Page 165

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4-22
Related Parameters
The parameters that are related to this command are listed in the following table.

Setting Parameters
 Monitor Parameters
Register
Address
Name Setting Details
OW
00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 3 (ZRET).
0: Servo OFF, 1: Servo ON
OW01
Bit 3
Speed Loop P/PI
Switch
Use this bit to change the speed control loop between PI control and
P control.
0: PI control, 1: P control
OW
02
Bit 8 to F
Stop Mode Selection
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
OW
03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW
08 Motion Commands
The origin return operation is started when this parameter is set to 3
(ZRET).
Set this parameter to 0 (NOP) during the origin return operation to
cancel the operation.
OW
09
Bit 1
Cancel Command
When this bit is set to 1 (ON) during an origin return operation, the
axis will decelerate to a stop.
OW12 Speed Limit
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
OL
14 Torque/Force Limit Set the torque limit for positioning.
OL
36
Linear Acceleration
Rate/Acceleration Time
Constant
Set the positioning acceleration rate with the acceleration time.
OL38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the positioning deceleration rate with the deceleration time.
OW
3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected
in bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
OW
3D
Zero Point Position Out-
put Width
Set this parameter to the value for which bit 4 in IW0C will
change to 1 (Within zero point position range).
Register
Address
Name Monitored Contents
IW
00
Bit 1
Running with Servo ON
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
IL
02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW
08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 3 during execution of the ZRET command.
IW
09
Bit 0
Command Execution
Flag
This bit is 1 (Processing) during execution of the ZRET command.
The bit changes to 0 (Completed) when execution ends.
IW
09
Bit 1
Command Hold Com-
pleted
This bit is always 0 (Command hold not completed) for the ZRET
command.
IW09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the ZRET command.
The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
Continued on next page.