Yaskawa JAPMC-MC2300 - Manual (Page 158)

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