YASKAWA JEPMC-MP2300-Y Series User Manual page 376

7 Motion Commands
7.2.3 Zero Point Return (ZRET)
( 5 ) Related Parameters
[ a ] Setting Parameters
Parameter
OB 000 Servo ON
OW 03 Function 1
OW 08 Motion Command
OB 091 Command Abort
Position Reference
OB 095
Type
Linear
OL 36
Acceleration Time
Linear
OL 38
Deceleration Time
S-Curve
OW 3A
Acceleration Time
OW 3D Home Window
[ b ] Monitoring Parameters
Parameter
IB 001 Servo ON
IL 02 Warning
IL 04 Alarm
Servo Command
IW 08
Type Response
IB 090 Command Executing
Command Hold
IB 091
Completed
IB 093 Command Error End
Command Execution
IB 098
Completed
Distribution
IB 0C0
Completed
IB 0C3 Position Proximity
IB 0C4 Zero Point Position
Zero Point Return
IB 0C5
Completed
7-18
Name
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW
Set the speed unit, acceleration/deceleration unit, and filter type.
Positioning starts when this parameter is set to 3.
The operation will be canceled if this parameter is set to 0 during ZRET command
execution.
The axis will decelerate to a stop if this bit is set to 1 during ZRET command
execution.
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW
Set the rate of acceleration or acceleration time constant for positioning.
Set the rate of deceleration or deceleration time constant for positioning.
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW
Change the setting only after pulse distribution has been completed for the command
(IB 0C0 is ON).
Set the width in which the Zero Point Position bit (IB
Name
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code is 3 during ZRET command execution.
The Command Executing bit will turn ON during ZRET command execution and
then turn OFF when command execution has been completed.
Always OFF for ZRET command.
Turns ON if an error occurs during ZRET command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another
command is executed.
Turns ON when ZRET command execution has been completed.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN =
≠
OL 20
Turns ON if the current position after the zero point return operation has been
completed is within the Zero Point Position Output Wide from the zero point
position. Otherwise, it turns OFF.
Turns ON when the zero point return has been completed.
Setting
Monitor Contents
20).
ON). Otherwise, it turns OFF.
0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
SVR
R
08) to 3.
R
R
R
R
08) to 3.
R
R
03.
R
0C4) will turn ON.
R
SVR
R
R
R
R
R
R
R
R
R
R
R
R