YASKAWA SVC User Manual page 183

4.2 Motion Command Details
4.2.3 ZRET (Zero Point Return)

INPUT Only (OW3C = 19)
 Operation after Origin Return Starts
1.
Travel is started at the creep speed in the direction determined by the sign of the creep
speed.
2.
When the rising edge of the INPUT signal is detected, positioning will be performed at
the positioning speed.
3.
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.
Information
• Normal Execution
N-OT
• Overtravel Signal Detected during Travel at the Creep Speed
N-OT
4-40
1. The travel distance after the INPUT signal 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 an overtravel signal is detected during motion at the creep speed, an overtravel
alarm will not occur. The direction will be reversed, and a search will be performed for
the INPUT signal.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an
overtravel alarm will occur.
4. The INPUT signal is assigned to bit B in OW05. This allows the origin return
operation to be performed without actually wiring a signal. This method can therefore
be used to temporarily set the origin for test run adjustments.
5. Detection of the rising edge of the INPUT signal 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.
6. The stop method when an overtravel signal is detected depends on the SERVOPACK
parameter settings.
Creep Speed
(OL
Start
INPUT signal (bit B in OW
*2
Creep Speed
(OL 40)
Start Origin
Creep Speed
(OL 40)
Speed Reference Setting
INPUT signal (bit B in OW
*2
*1.
SERVOPACK P-OT signal.
*2.
SERVOPACK N-OT signal.
Speed Reference Setting
(OL 10)
Zero Point Return
40)
Travel Distance
(OL 42)
05)
Zero Point Return
Travel Distance
(OL 42)
(OL 10)
05)
Origin
*1
P-OT
*1
P-OT