YASKAWA S-7 Series Command Manual page 113

 MODE = 1 (Deceleration Limit Switch Signal + Latch Signal)
1.
The master station sends the ZRET command. It selects the latch signal with LT_SEL1
of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 = 1.
2.
The slave station starts feeding in the direction specified by MODE.HOME_DIR at the
speed set in the "TSPD" field.
3.
When the "deceleration limit switch" is closed (DEC = 1), the feed speed is switched to
the Homing Approach Speed (common parameter 84).
4.
When the current position latch signal, specified by LT_SEL1 of SVCMD_CTRL, is input
after the "deceleration limit switch" is opened (DEC = 0), the slave station executes
positioning through the movement of the Final Travel Distance for Homing (common
parameter 86) at the Homing Creep Speed (common parameter 85). After the comple-
tion of positioning, the slave station sets the zero point of the reference coordinate sys-
tem.
Speed
(2)
Deceleration
Open
limit switch
Close
Position latch signal
The motion direction after latching is determined by the sign of the value set for the Final
Information
Travel Distance for Homing.
If the Final Travel Distance for Homing is a positive value:
• After latching during motion in the positive direction, the motor rotates in the positive direc-
tion (the same direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the positive
direction (the reverse direction) for positioning. (With ZRET in the MECHATROLINK-II com-
patible profile, the motor rotates in the negative direction (the same direction) for position-
ing.)
If the Final Travel Distance for Homing is a negative value:
• After latching during motion in the positive direction, the motor rotates in the negative
direction (the reverse direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the negative
direction (the same direction) for positioning. (With ZRET in the MECHATROLINK-II com-
patible profile, the motor rotates in the positive direction (the reverse direction) for position-
ing.)
(3)
Feed speed
Approach
speed
3.2 Servo Commands
3.2.14 Zero Point Return Command (ZRET: 3Ah)
(4)
Final travel distance
for zero point return
Creep
speed
Zero point
Time
3
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