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9-4-2 Command Settings
ORIGIN RETURN (Word m+1/m+5, bit 03) (X/Y axis)
Wd m+1
9-4-3 Executing ORIGIN RETURN
ORIGIN RETURN
Word m+3, bit 03
Initial speed
Pulse output
[Status Area flags]
Origin Stop Flag
Word s+0, bit 02
Busy Flag
Word s+0, bit 07
9-5
RELEASE PROHIBIT
9-5-1 Operation
Bit 03
ORIGIN RETURN
Origin return operation begins with rising edge when this bit turns ON.
Origin return operations can only be performed when the origin position has al-
ready been established. If the origin position has not been established, a 5040
error (unknown present position) occurs. When the ORIGIN RETURN com-
mand is executed, the axis is returned to the origin in an automatic trapezoidal
acceleration/deceleration pattern.
Origin return speed
Start
The above diagram shows the operation when the origin search mode is set to 0
or 1. When the mode is set to 2 or 3 after the position completed signal from the
servomotor driver turns ON, the Busy Flag turns OFF when the dwell time
elapses.
When Position Control Unit operation is stopped as a result of input of an emer-
gency stop, CW limit, or CCW limit signal, (i.e., when the N.C. input of any of
these turns OFF), further pulse output is prohibited. In order to resume pulse out-
put, it is necessary to cancel this prohibition by means of the RELEASE PRO-
HIBIT command bit (bit 04 of word m+1/m+5) and release of the external emer-
gency stop switch.
Deceleration
Initial speed
Stop (Origin)
Origin return dwell time
Section
9-5
Time
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