3.2 Servo Commands
3.2.14 Zero Point Return Command (ZRET: 3Ah)
3-46
Command-specific Data
The following describes the data specific to the ZRET command.
MODE (Lower 1 byte)
•
MODE.HOME_DIR (Zero point return direction)
Selects the zero point return direction.
MODE.HOME_DIR = 0:Positive direction
MODE.HOME_DIR = 1:Negative direction
•
MODE.TYPE (Zero point return type)
Sets the zero point return type on selection of the type from the patterns below.
MODE.TYPE = 0:Latch signal
MODE.TYPE = 1:Deceleration limit Latch signal
Operating Sequence
The following describes the zero point return operating sequence for each of the zero point
return modes.
MODE = 0 (Latch Signal)
1.
The master station sends the ZRET command. It selects the latch signal with LT_SEL1
of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 = 1.
2.
The slave station starts feeding in the direction specified by MODE.HOME_DIR at the
speed set for the Homing Approach Speed (common parameter 84).
3.
When the current position latch signal, specified by LT_SEL1 of SVCMD_CTRL, is input,
the slave station executes positioning through the movement of the Final Travel Dis-
tance for Homing (common parameter 86) at the Homing Creep Speed (common param-
eter 85). After the completion of positioning, the slave station sets the zero point of the
reference coordinate system.
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
HOME_DIR
Reserved
Reserved
Reserved
TYPE
S
peed
Time
Po
s
ition latch
s
ignal
(2)
(
3
)
Approach
s
peed
Creep
s
peed
Final travel di
s
tance
for zero point return
Zero point