Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
No.
1
There must be no alarms.
2
The Servomotor's power must be ON.
Motion command execution for the target axis
3
must be completed.*
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2.
If an incremental encoder is used (i.e., if fixed parameter No. 30 (Encoder Selection) is
set to 0), refer to the table on the previous page and set the origin return method to use
in motion setting parameter OW3C (Zero Point Return Method).
Software limits are enabled when the origin return operation is completed.
Information
3.
Refer to the following section and set the required parameters.
Origin Return Methods and Parameters on page 4-25
4.
Set the OW08 setting parameter (Motion Commands) to 3 to execute the ZRET
motion command.
The origin return operation will start. During the origin return operation, the IW08 monitor
parameter (Motion Command Response Code) is 3.
When the axis returns to the origin, bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter will change to 1 (Completed) and the origin return operation will end.
5.
Set OW08 to 0 to execute the NOP motion command.
This concludes the origin return operation.
Holding
Holding execution of the ZRET command is not possible. Bit 0 (Hold Command) in the
OW09 setting parameter will be ignored.
Canceling
• To cancel an origin return operation, set bit 1 (Cancel Command) in the OW09 setting
parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
Execution Condition
4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
Confirmation Method
Both IL02 and IL04 must be 0.
Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
IW09 must be 0.
4
4-21