YASKAWA MP2000 Series User Manual page 157

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
( 6 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Bit 0
OW03
OW08
OW09
Bit 1
OW09
Bit 5
OL36
OL38
OW3D
[ b ] Monitoring Parameters
Parameter
IW00
Bit 1
IL02
IL04
IW08
IW09
Bit 0
IW09
Bit 1
IW09
Bit 3
IW09
Bit 8
IW0C
Bit 0
IW0C
Bit 3
IW0C
Bit 4
IW0C
Bit 5
7-18
Name
Turns the power to the Servomotor ON and OFF.
Servo ON
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW08) to 3.
Function Setting 1
Set the speed unit.
Zero point return operation starts when this parameter is set to 3.
Motion Command
The operation will be canceled if this parameter is set to 0 during ZRET command exe-
cution.
Interrupt A Command
The axis will decelerate to a stop if this bit is set to 1 during ZRET command execution.
Select the type of position reference.
Position Reference Type
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW08) to 3.
Straight Line
Acceleration/Accelera-
Set the rate of acceleration or acceleration time constant for positioning.
tion Time Constant
Straight Line
Deceleration/Decelera-
Set the rate of deceleration or deceleration time constant for positioning.
tion Time Constant
Width of Starting Point
Set the width in which the Zero Point Position bit (IW0C, bit 4) will turn ON.
Position Output
Name
Indicates the Servo ON status.
Running (At Servo ON)
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Warning
Stores the most current warning.
Alarm
Stores the most current alarm.
Motion Command
Indicates the motion command that is being executed.
Response Code
The response code is 3 during ZRET command execution.
Command Execution
Turns ON during ZRET command execution.
Flag
Turns OFF when command execution has been completed.
Command Hold
Always OFF for ZRET command.
Completed
Command Error
Turns ON if an error occurs during ZRET command execution.
Completed Status
The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed.
Command Execution
Turns ON when ZRET command execution has been completed.
Completed
Turns ON when pulse distribution has been completed for the move command.
Discharging Completed
Turns OFF during execution of a move command.
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL20).
OL20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). Other-
NEAR Position
OL20 ≠ 0: Turns ON when the absolute value of the difference between MPOS
Turns ON if the current position after the zero point return operation has been completed is
Zero Point Position
within the Width of Starting Point Position Output from the zero point position. Otherwise, it
turns OFF.
Zero Point Return
Turns ON when the zero point return has been completed.
(Setting) Completed
Setting
Monitor Contents
wise, it turns OFF.
(IL12) and APOS (IL16) is less than the NEAR Position Setting even
if pulse distribution has not been completed.
OFF in all other cases.