YASKAWA SVC - Page 174

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-31
 P-OT + C Pulse (OW3C = 12)
 Operation after Origin Return Starts
1. Travel is started at the approach speed until the P-OT signal is detected.
2. When the P-OT signal is detected, the direction will be reversed and the axis will return
at the creep speed.
3. Positioning is performed when the phase-C pulse is detected after passing the P-OT
signal during the origin return operation.
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 P-OT signal.
*2. SERVOPACK N-OT signal.
 Setting Parameters
1. The travel distance after the phase-C pulse is detected is the value of the Zero Point
Return Travel Distance parameter. The positioning speed is the value of the Speed
Reference Setting parameter.
2. If a negative value is set for the approach speed, the command will end in an error.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an
overtravel alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK
parameter settings.
Register Address Name Setting Details
OW
3C
Zero Point Return
Method
12: P-OT + C pulse
OL
10
Speed Reference Set-
ting
Set the positioning speed to use after the phase-C pulse is
detected. The sign is ignored.
The travel direction depends on the sign of the Zero Point
Return Travel Distance parameter.
OL
3E Approach Speed
Set the speed at which to begin the origin return operation.
Add a sign to this setting so that the travel direction will be pos-
itive.
OL
40 Creep Speed
Set the reversal speed to use after the P-OT signal is detected.
The sign is ignored. The travel direction is negative.
OL
42
Zero Point Return
Travel Distance
Set the travel distance after the phase-C pulse is detected.
The travel direction depends on the sign.
N-OT
*2
P-OT
*1
(OL40)
(OL42)
(OL10)
(OL3E)
Approach Speed
Phase-C pulse
Origin
Start
Zero Point Return
Travel Distance
Creep Speed
Speed Reference Setting
Information