YASKAWA SVC - Page 170

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-27
 Setting Parameters
 DEC1 + ZERO Signal (OW3C = 2)
 Operation after Origin Return Starts
1. Travel is started at the origin return speed in the direction that is specified in the param-
eters.
2. When the rising edge of the DEC1 signal is detected, the axis will decelerate to the
approach speed.
3. When the rising edge of the ZERO signal is detected after passing the DEC1 signal
during movement at the approach speed, the speed will be reduced to the creep speed
and positioning will be performed.
4. When the positioning operation has been completed, the machine coordinate system is
established with the position at the end of the positioning operation as the origin.
*1. SERVOPACK DEC1 signal.
*2. SERVOPACK EXT1 signal.
*3. SERVOPACK P-OT signal.
*4. SERVOPACK N-OT signal.
Register Address Name Setting Details
OW
3C
Zero Point Return
Method
1: ZERO signal
OW
09 Bit 3
Zero Point Return
Direction Selection
Set the origin return direction.
OL
3E Approach Speed
Set the speed to use after passing the DEC1 signal.
Only a positive value can be set. A negative value will result in
an error.
OL40 Creep Speed
Set the speed to use after detecting the ZERO signal.
Only a positive value can be set. A negative value will result in
an error.
OL
42
Zero Point Return
Travel Distance
Set the travel distance from the point where the ZERO signal is
detected.
If the sign is positive, the axis will move in the origin return
direction.
If the sign is negative, the axis will move away from the origin
return direction.
The travel distance after detecting the ZERO signal is set in the OL42 setting parameter
(Zero Point Return Travel Distance).
If an overtravel signal is detected during the origin return operation, an overtravel alarm will occur.
N-OT
*4
P-OT
*3
(OL40)
(OL42)
(OL3E)
(OL10)
Zero Point Return Travel Distance
Origin
Start
Creep Speed
Approach Speed
Speed Reference Setting
ZERO signal
*2
DEC1 signal
*1
Important