YASKAWA SVC - Page 182

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
4
Motion Control Program Commands and Instructions
4-39
• Overtravel Signal Detected during Travel at the Approach Speed
*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 an overtravel signal is detected during motion at the approach speed, an overtravel
alarm will not occur. The direction will be reversed, and a search will be performed for
the INPUT 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.
Register Address Name Setting Details
OW
3C
Zero Point Return
Method
18: INPUT + 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.
The travel direction depends on the sign of the approach
speed.
OL
40 Creep Speed
Set the speed and direction (based on the sign) after the INPUT
signal is detected.
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.
OW
05 Bit B
Zero Point Return
Input Signal
This signal must be turned ON from a ladder program.
N-OT
*2
P-OT
*1
Approach Speed
(OL3E)
Speed Reference Setting (OL10)
Zero Point Return
Travel Distance
(OL42)
Start
Origin
Creep Speed
(OL40)
INPUT signal
(bit B in OW05)
Approach Speed
(OL3E)
Phase-C pulse
Information