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Origin Return
Position command value
(word a+2, a+3)
PRESENT POSITION
PRESET (word a, bit 08)
Origin Stop Flag
(word b, bit 07)
No Origin Flag
(word b, bit 06)
Busy Flag
(word b, bit 13)
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25
8-4
Origin Return
Note
8-4-1
Origin Return Data Settings
Servo Parameter Area
Model
Parameter
No.
R88D-KN@-
Pn009
ML2
Pn010
R88D-GN@-
Pn205
ML2
Pn206
R88D-WT@
Pn202
Pn203
R88D-WN@-
Pn20E
ML2
Pn210
SMART-
Pn20E
STEP Junior
Pn210
0
1 cycle time min.
The origin return operation is used to return the axis to the origin from any
position. ORIGIN RETURN is executed when the ORIGIN RETURN Bit turns
ON.
Execute ORIGIN RETURN when the origin has been established. If ORIGIN
RETURN is executed when the origin has not been established, a Present
Position Unknown Error (axis error code: 3030) will occur.
A simple explanation of the main parameters and data used to execute ORI-
GIN RETURN is provided here. To execute ORIGIN RETURN, apart from the
parameters explained here, the following parameters also need to be set as
basic settings for operating the PCU.
For details on command units, refer to 7-2 Control Units. The setting units for
parameters and data depend on the specified command unit.
Command Unit Parameters
Parameter name
Electronic gear ratio numerator
Electronic gear ratio denominator
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Unit
Setting
Parameter
range
---
1 to
1073741824
---
1 to
1073741824
---
1 to
1073741824
---
1 to
1073741824
---
1 to 65535
---
1 to 65535
---
1 to
1073741824
---
1 to
1073741824
---
1 to
1073741824
---
1 to
1073741824
Section 8-4
Default
size
setting
4
1
4
1
4
1
4
1
2
4
2
1
4
4
4
1
4
1
4
1
319
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