YASKAWA SVC - Page 179

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4-36
 Setting Parameters
 N-OT + C Pulse (OW3C = 16)
 Operation after Origin Return Starts
1. Travel is started at the approach speed until the N-OT signal is detected.
2. When the N-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 N-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.
Register Address Name Setting Details
OW
3C
Zero Point Return
Method
15: HOME only
OL
10
Speed Reference Set-
ting
Set the positioning speed to use after the HOME signal is
detected. The sign is ignored.
The travel direction depends on the sign of the Zero Point
Return Travel Distance parameter.
OL
40 Creep Speed
Set the speed and direction (based on the sign) to begin the ori-
gin return operation.
OL
42
Zero Point Return
Travel Distance
Set the travel distance after detecting the HOME signal.
The travel direction depends on the sign.
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 positive 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.
(OL10)
(OL3E)
N-OT
*2
P-OT
*1
(OL40)
(OL42)
Phase-C pulse
Creep Speed
Origin
Start
Zero Point Return
Travel Distance
Speed Reference Setting
Approach Speed
Information