YASKAWA SVC - Page 176

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-33
 Setting Parameters
 HOME LS + C Pulse (OW3C = 14)
 Operation after Origin Return Starts
1. Travel is started at the approach speed in the direction that is specified by the sign of
the approach speed.
2. When the rising edge of the HOME signal is detected, the speed will be reduced to
creep speed.
3. Positioning is performed at the positioning speed when the first phase-C pulse is
detected after the falling edge of the HOME signal.
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.
• Normal Execution
Register Address Name Setting Details
OW
3C
Zero Point Return
Method
13: P-OT only
OL
10
Speed Reference Set-
ting
Set the positioning speed to use after the P-OT signal 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
42
Zero Point Return
Travel Distance
Set the travel distance after detecting the P-OT signal.
The travel direction depends on the sign.
N-OT
*3
P-OT
*2
(OL40)
(OL42)
(OL10)
(OL3E)
Approach Speed
Creep Speed
Speed Reference Setting
Zero Point Return
Travel Distance
Start Origin
Phase-C pulse
HOME signal
*1