YASKAWA SVC - Page 172

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-29
 Setting Parameters
 C Pulse Only (OW3C = 11)
 Operation after Origin Return Starts
1. Travel is started at the creep speed in the direction determined by the sign of the creep
speed.
2. When the rising edge of the phase-C pulse is detected, positioning will be performed at
the positioning speed.
3. 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.
• Normal Operation (No Overtravel Signal Detected)
The travel distance after the phase-C pulse is detected 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.
Register Address Name Setting Details
OW
3C
Zero Point Return
Method
3: C pulse
OW
09 Bit 3
Zero Point Return
Direction Selection
Set the origin return direction.
OL
3E Approach Speed
Set the speed at which to begin the origin return operation.
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 the phase-C pulse is detected.
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 after the phase-C pulse 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.
Important
N-OT
*2
P-OT
*1
(OL40)
(OL42)
(OL10)
Creep Speed
Speed Reference Setting
Zero Point Return
Travel Distance
Origin
Start
Phase-C pulse