YASKAWA SVC User Manual page 179

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)
 Setting Parameters
Register Address

OW

OL

OL

OL

N-OT + C Pulse (OW3C = 16)
 Operation after Origin Return Starts
1.
Travel is started at the approach speed until the N-OT signal is detected.
2.
When the N-OT signal is detected, the direction will be reversed and the axis will return
at the creep speed.
3.
Positioning is performed when the phase-C pulse is detected after passing the N-OT
signal 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.
N-OT
Information
4-36
Name
Zero Point Return
3C
Method
Speed Reference Set-
10
ting
40 Creep Speed
Zero Point Return
42
Travel Distance
Phase-C pulse
Creep Speed
(OL 40)
Origin
Zero Point Return
Travel Distance
(OL 42)
Speed Reference Setting
(OL 10)
Approach Speed
(OL
*2
*1.
SERVOPACK P-OT signal.
*2.
SERVOPACK N-OT signal.
1. The travel distance after the phase-C pulse is detected 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 positive 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. The stop method when an overtravel signal is detected depends on the SERVOPACK
parameter settings.
15: HOME only
Set the positioning speed to use after the HOME signal is
detected. The sign is ignored.
The travel direction depends on the sign of the Zero Point
Return Travel Distance parameter.
Set the speed and direction (based on the sign) to begin the ori-
gin return operation.
Set the travel distance after detecting the HOME signal.
The travel direction depends on the sign.
3E)
Setting Details
Start
*1
P-OT