Zret (Zero Point Return) - YASKAWA SVC User Manual

4.2 Motion Command Details

4.2.3 ZRET (Zero Point Return)

4.2.3

ZRET (Zero Point Return)

When the ZRET command is executed, the axis returns to the origin of the machine coordinate
system.
The operation to detect the position of the origin is different for an absolute encoder and for an
incremental encoder.
With an absolute encoder, the axis is returned to the origin of the machine coordinate system.
This concludes the execution of the command.
With an incremental encoder, you can select from 13 different methods for performing the ori-
gin return operation. (Refer to the next section for details.)
Information
Selecting the Origin Return Method (with an Incremental
Encoder)
When fixed parameter No. 30 (Encoder Selection) is set to 0 (Incremental encoder), the coordi-
nate system data is lost when the power supply is turned OFF. Therefore, this command must
be executed when the power supply is turned ON again to establish a new coordinate system.
The following table gives the origin return methods. Set the optimum origin return method for
the machine in the OW3C setting parameter.
Refer to the following section for details on each of the methods listed in the following table.
Origin Return Methods and Parameters on page 4-25
OW3C
Setting
Parameter
0
1
2
3
4 to 10
11
12
13
14
15
16
17
18
19
*
Do not use this method if repeat accuracy is required.
4-20
If the SVR Function Module is used, the only operations that are performed are the reset-
ting of the machine coordinate system and setting of the Zero Point Return completion
status.
The origin return operation itself is not performed.
Name
Applies a 3-step deceleration
DEC1 +
method using the deceleration
C pulse
limit switch and phase-C pulse.
ZERO signal Uses the ZERO signal.
Applies a 3-step deceleration
DEC1 +
method using the deceleration
ZERO signal
limit switch and ZERO signal.
C pulse Uses the phase-C pulse.
−
Reserved.
C pulse only Uses only the phase-C pulse.
P-OT + Uses the positive overtravel signal
C pulse and phase-C pulse.
Uses only the positive overtravel
P-OT only
signal.
HOME LS + Uses the HOME signal and
C pulse phase-C pulse.
HOME only Uses only the HOME signal.
N-OT + Uses the negative overtravel sig-
C pulse nal and phase-C pulse.
Uses only the negative overtravel
N-OT only
signal.
INPUT + Uses the input signal and phase-
C pulse C pulse.
INPUT only Uses only the input signal.
Method
DEC1 signal: SERVOPACK DEC signal
ZERO signal: SERVOPACK EXT1 signal
DEC1 signal: SERVOPACK DEC signal
ZERO signal: SERVOPACK EXT1 signal
−
−
−
P-OT: SERVOPACK P-OT signal
P-OT: SERVOPACK P-OT signal*
HOME: SERVOPACK EXT1 signal
HOME: SERVOPACK EXT1 signal
N-OT: SERVOPACK N-OT signal
N-OT: SERVOPACK N-OT signal*
INPUT: Bit B in the OW05 setting
parameter
Allows the origin return to be performed
without controlling bit B in the OW05
setting parameter from an external signal.*
Signal Details