Zero Point Return (Zret: 3Ah) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4.3.29

Zero Point Return (ZRET: 3AH)

Byte ZRET
Command
1 3AH
2 LT_SGN
3 OPTION
4
5
6
7
8
9 TSPD
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14
15
16 WDT
17 For For
subcommands subcommands
18
use. Refer to use. Refer to
19
4.4 Subcom- 4.4 Subcom-
mands. mands.
20
21
22
23
24
25
26
27
28
29
Note: Refer to 4.5.5 IO Monitor Field Specifications: IO_MON for details of DEC.
Response
3AH Processing
classifications
ALARM Processing time
STATUS • Accelerates to the target speed (TSPD) in the direction specified in the param-
eter (Pn816) and continues to move at the target speed.
• Decelerates to approach speed 1 (Pn817) at the DEC = 1.
MONITOR1
• Latch operation will start at the DEC = 0.
• When a latch signal is input, zero point return approach speed 2 (Pn818) is
used and positioning is performed for the target position specified in the final
travel distance to return to zero point (Pn819). When positioning is completed,
that position is zero point.
MONITOR2
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the fol-
lowing cases.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF:
MECHATROLINK-II command warning (A.95)
- If the target speed (TSPD) exceeds the limit: Parameter setting
IO_MON
warning (A.94)
- If LTMOD_ON/OFF is received during ZRET execution or
simultaneously: MECHATROLINK-II command warning (A.95)
RWDT
(the LTMOD_ON/OFF commands will be ignored.)
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications:
OPTION for details.
• The target speed (TSPD) is an unsigned 4 bytes. It is set using units/s.
• Before DEC is input, the target speed during motion can be changed.
• Use DEN (output complete) and ZPOINT (zero point) to confirm the comple-
tion of position reference output.
• If ZRET command is received during modal latch mode, the ZRET command
is enabled.
4-39
Description
Motion command Synchronization
group classifications
Within communi- Subcommand
cations cycle
4.3 Main Commands
Asynchronous
Can be used.
4