5 ) related parameters, A ] setting parameters [ b ] monitoring parameters – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

Page 179

6.2 Motion Command Details

6.2.3 Zero Point Return (ZRET)

6-18

( 5 ) Related Parameters

[ a ] Setting Parameters

[ b ] Monitoring Parameters

Parameter

Name

Setting

SVR

Bit 0

Servo ON

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

08) to 3.

Bit 3

Speed Loop P/PI Switch Switches the SERVOPACK’s speed loop between PI control and P control.

0: PI control, 1: P control

Function Setting 1

Set the speed unit, acceleration/deceleration units, and filter type.

Motion Command

Positioning starts when this parameter is set to 3.
The operation will be canceled if this parameter is set to 0 during ZRET com-
mand execution.

Bit 1

Holds a Command

The axis will decelerate to a stop if this bit is set to 1 during ZRET command
execution.

Straight Line Accelera-
tion/Acceleration Time
Constant

Set the rate of acceleration or acceleration time constant for positioning.

Straight Line Decelera-
tion/Deceleration Time
Constant

Set the rate of deceleration or deceleration time constant for positioning.

Filter Time Constant

Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW

03, bits 8 to B.

Change the setting only after pulse distribution has been completed for the com-
mand (IW

0C, bit 0 is ON).

Width of Starting Point
Position Output

Set the width in which the Zero Position bit (IW

0C, bit 4) will turn ON.

Parameter

Name

Monitor Contents

SVR

Bit 1

Running (At Servo ON)

Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: Power not supplied to Servomotor

Warning

Stores the most current warning.

Alarm

Stores the most current alarm.

Motion Command
Response Code

Indicates the motion command that is being executed.
The response code is 3 during ZRET command execution.

Bit 0

Command Execution
Flag

The Command Execution Flag bit will turn ON during ZRET command execution and
then turn OFF when command execution has been completed.

Bit 1

Command Hold
Completed

Always OFF for ZRET command.

Bit 3

Command Error Com-
pleted 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.

Bit 8

Command Execution
Completed

Turns ON when ZRET command execution has been completed.

Bit 0

Discharging Completed

Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.

Bit 3

NEAR Position

The operation depends on the setting of the NEAR Signal Output Width (setting parame-
ter OL

20).

20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).

Otherwise, it turns OFF.

≠ 0: Turns ON when the absolute value of the difference between MPOS

(IL

12) and APOS (IL

16) is less than the NEAR Signal Output

Width even if pulse distribution has not been completed.
OFF in all other cases.

Bit 4

Zero 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. Other-
wise, it turns OFF.

Bit 5

Zero Point Return (Set-
ting) Completed

Turns ON when the zero point return has been completed.