YASKAWA SVC - Page 166

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-23
Timing Charts
 Normal Execution
IW09
Bit 8
Command Execution
Completed
This bit changes to 1 (Normal execution completed) when execution
of the ZRET command ends.
IW
0C
Bit 0
Distribution Completed
This bit changes to 1 (Distribution completed) when the distribution
for the travel motion command is completed.
This bit is 0 (Distributing pulses) when the execution of a travel
motion command is in progress.
IW0C
Bit 3
Near Position
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when dis-
tribution is completed (i.e., when DEN is 1), and it is 0 (Outside near
position range) when distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the
following formula, regardless of the state of distribution, and 0 in all
other cases.
|(IL12) − (IL16)| ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
IW
0C
Bit 4
Zero Point Position
This bit is 1 (Within zero point position range) if, after the origin return
operation is completed, the current position is within the zero point
position output width from the origin. It is 0 (Outside zero point posi-
tion range) if the current position is outside of this range.
IW
0C
Bit 5
Zero Point Return Com-
pleted
This bit changes to 1 (Zero point return/setting completed) when the
origin return operation is completed.
Continued from previous page.
Register
Address
Name Monitored Contents
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
IW0C Bit 5 (ZRNC)
1 scan
Depends on the origin return
method that is used.
This interval is not constant.