Delta AS Series Programming Manual page 1298

API Instruction
2806 D ZRNC
Device X Y M
S
1
S
2
S
3
Data
type

S
1

S
2

S
3
Symbol
Explanation
1. This instruction executes the servo homing control for the servo at the address specified in S
ASDON (Servo-ON) instructions must be complete before this instruction is executed. It is recommended to use the
instruction ZRNM (API 2810) to have every servo axis go back to the zero point.
2. The range of S is 1–8 (for servo. There will be no execution when the input value is out of the range.
1
3. The range of S is 1–20000. Unit: 0.1 rpm (servo drive parameter P5-05); if you need to use linear motor drive and
2
the first section exceeds 32767, you need to use DZRNC instruction instead (only available for PLC FW V1.04 or
later).
4. The range of S is 1–5000. Unit: 0.1 rpm (servo drive parameter P5-06)
3
5. When the servo returns to the home position, the corresponding finish flags of the axes are ON. Refer to the DRVIC
instruction (API 2803) for explanations of special flags (SM) and registers (SR).
6. SM1682 is set to ON when an error occurs during communication. In addition, SR658 retains the number of the axis
in which the error occurs and SR659 retains the error code.
Operand
S , S
1
S T C HC

 
 
Pulse instruction
：
S
1
：
S
2
：
S
3
Ch ap te r 6 App l ied Ins tr uc ti ons
, S
2 3
D FR SM SR

 
 
16-bit instruction
－
AS
Station address of servo
st
The 1 – segment speed
nd
The 2 – segment speed
Description
Servo homing
E K 16# "$" F
 
 
 
32-bit instruction
AS
. The INITC and
1
6 - 1 0 1 9
6_