YASKAWA SVC - Page 178

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-35
 HOME Only (OW3C = 15)
 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 HOME signal 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 Execution
• Overtravel Signal Detected during Travel at the Creep Speed
*1. SERVOPACK EXT1 signal.
*2. SERVOPACK P-OT signal.
*3. SERVOPACK N-OT signal.
1. The travel distance after the HOME signal 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 an overtravel signal is detected during motion at the creep speed, an overtravel
alarm will not occur. The direction will be reversed, and a search will be performed for
the HOME signal.
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.
N-OT
*3
P-OT
*2
(OL40)
(OL42)
(OL10)
Creep Speed
Speed Reference Setting
Zero Point Return
Travel Distance
Start Origin
HOME signal
*1
N-OT
*3
P-OT
*2
(OL40)
(OL42)
(OL10)
(OL40)
Speed Reference Setting
Creep Speed
Zero Point Return
Travel Distance
Origin
Start
Creep Speed
HOME LS signal
*1
Information