YASKAWA SVC User Manual page 175

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
 P-OT Only (OW3C = 13)
 Operation after Origin Return Starts
1.
Travel is started at the approach speed until the P-OT signal is detected.
2.
When the P-OT signal is detected, the direction will be reversed and the axis will return
at the positioning speed.
3.
Positioning is performed when the status of the P-OT signal changes from ON to OFF
during the origin return operation.
4.
When the positioning operation has been completed, the machine coordinate system is
established with the position at the end of the positioning operation as the origin.
• Normal Execution
N-OT
• Starting from the P-OT Signal
N-OT
Information
4-32
Start
*2
*2
*1.
SERVOPACK P-OT signal.
*2.
SERVOPACK N-OT signal.
1. The travel distance after detecting a change in the status of the P-OT signal 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 a negative value is set for the approach speed, the command will end in an error.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an
overtravel alarm will occur.
4. Detecting changes in the overtravel signal status is performed with software process-
ing. Therefore, the position where positioning is completed depends on the high-
speed scan setting and positioning speed setting. Do not use this method if repeat
accuracy is required for the position where the origin return operation is completed.
5. The stop method when an overtravel signal is detected depends on the SERVOPACK
parameter settings.
Approach Speed
(OL 3E)
Origin
Zero Point Return
Travel Distance
(OL
Speed Reference Setting
(OL
Origin
Zero Point
Return Travel
Distance
(OL 42)
Speed Reference Setting
(OL 10)
42)
10)
*1
P-OT
Start
*1
P-OT