Zero Return Operation Pattern

This section describes patterns of the Move to origin.
The patterns of the Move to origin is set by the SmcWSetOrgMode.
The meaning of symbols in figure are as follows :
$image\ORG0_wmf.gif$

1. Sensor : ORG

1.1 Start direction to move to origin : CW, End direction to move to origin : CW
    1) Start to CW direction for moving to origin. And slow down on ORG limit sensor (signal changes OFF into ON). After slowing down, it moves and stops at start speed.
    2) After stopping, move at start speed in CCW direction. It is same as the case stopped within ORG limit sensor.
        And stop on ORG limit sensor (signal changes ON into OFF.).
    3) After stopping, move in CW direction. And stop on ORG limit sensor (signal changes OFF into ON.).
             $image\ORG1-1_wmf.gif$

*) When starting the origin return motion from within ORG limit sensor, it is same as the case stopped within ORG limit sensor.

1.2 Start direction to move to origin : CW, End direction to move to origin : CCW
    1) Start to CW direction for moving to origin. And slow down on ORG limit sensor (signal changes OFF into ON).
        After slowing down, it moves and stops at start speed. (When it stops within ORG limit sensor, it moves to CW direction at start speed and stops until out of the sensor.)
    2) After stopping, move at start speed in CCW direction. And stop on ORG limit sensor (signal changes OFF into ON).
             $image\ORG1-2_wmf.gif$

*) When starting the origin return motion from within ORG limit sensor, it is same as the case stopped within ORG limit sensor.

1.3 Start direction to move to origin : CW, End direction to move to origin : Disable
    1) Start to CW direction for moving to origin. And slow down on ORG limit sensor (signal changes OFF into ON). After slowing down, it moves and stops at start speed.
    2) If motion was stop within ORG limit sensor, ORG motion is over.
        If motion was stop out of ORG limit sensor, After stopping, move at start speed in CCW direction. And stop on ORG limit sensor (signal changes OFF into ON).
             $image\ORG1-3_wmf.gif$

*) When starting the origin return motion from within ORG limit sensor, it is same as the case stopped within ORG limit sensor.

1.4 Start direction to move to origin : CCW, End direction to move to origin : CCW
CW and CCW become reverse operation by "1.1".

1.5 Start direction to move to origin : CCW, End direction to move to origin : CW
CW and CCW become reverse operation by "1.2".

1.6 Start direction to move to origin : CCW, End direction to move to origin : Disable
CW and CCW become reverse operation by "1.3".

2. Sensor : ORG, Z

2.1 Start direction to move to origin : CW, End direction to move to origin : CCW, Z Count : Specified by SmcWSetOrgMode setting.
    1) Start to CW direction for moving to origin. And slow down on ORG limit sensor (signal changes OFF into ON).
        After slowing down, it moves and stops at start speed. (When it stops within ORG limit sensor, it moves to CW direction at start speed, and stops until out of sensor.)
    2) After stopping, move at start speed in CCW direction. It stops after the specified phase Z ORG limit sensor signal count (signal changes OFF into ON) is detected.
             $image\ORG2-1_wmf.gif$

*) When starting the origin return motion from within ORG limit sensor, it is same as the case stopped within ORG limit sensor.

2.2 Start direction to move to origin : CCW, End direction to move to origin : CW, Z Count : Specified by SmcWSetOrgMode setting
CW and CCW become reverse operation by "2.1".

2.3 Start direction to move to origin : CW, End direction to move to origin : CW, Z Count : Specified by SmcWSetOrgMode setting
    1) Start to CW direction for moving to origin. And slow down on ORG limit sensor (signal changes OFF into ON). After slowing down, it moves and stops at start speed.
    2) After stopping, move at start speed in CCW direction. It is same as the case stopped within ORG limit sensor.
        Stop when ORG limit sensor (signal changes ON into OFF) is passed.
    3) After stopping, move in CW direction. It stops after the specified phase Z ORG limit sensor signal count (signal changes OFF into ON) is detected.
             $image\ORG2-3_wmf.gif$

*) When starting the origin return motion from within ORG limit sensor, it is same as the case stopped within ORG limit sensor.

2.4 Start direction to move to origin : CCW, End direction to move to origin : CCW, Z Count : Specified by SmcWSetOrgMode setting
CW and CCW become reverse operation by "2.3".

2.5 Start speed is same with target speed (Speed fixed)
2.5.1 Start direction to move to origin : CW, End direction to move to origin : CCW, Z Count : Specified by SmcWSetOrgMode setting
    1) Start origin return motion at start speed in CW direction. When ORG limit sensor signal (OFF -> ON) is detected, it moves and stops when outside of the sensor.
    2) After stopping, move at start speed in CCW direction. It stops after the specified phase Z ORG limit sensor signal count (signal changes OFF into ON) is detected.
             $image\ORG2-1_wmf.gif$

*) When starting the origin return motion from within ORG limit sensor, it is same as the case stopped within ORG limit sensor.

2.5.2 Start direction to move to origin : CW, End direction to move to origin : CW/Disable, Z Count : Specified by SmcWSetOrgMode setting
Start origin return motion at start speed in CW direction. Stop after the specified phase Z ORG limit sensor signal count (signal changes OFF into ON) is detected.

3. In case of sensing +LIM or -LIM

If it sets up "LimitTurn=1 Turn the limit over (default)" with SmcWSetOrgMode, in case of sensing +LIM or -LIM, turn the direction. And continue to move to origin.
If it sets up "LimitTurn=2" with SmcWSetOrgMode, Even if LIM is in ON, origin motion is started.
If it sets up "LimitTurn=3" with SmcWSetOrgMode, It becomes the following operations.

3.1 Start direction to move to origin : CW
    1) LIM sensor (signal changes OFF into ON). It stops immediately.
    2) If it set up "OrgType=0 Not use Z-phase", move to CCW direction, and LIM sensor (signal changes ON into OFF). It stops immediately.
    3) If it set up "OrgType=1 Use Z-phase", move to CCW direction, From
        LIM sensor (signal changes ON into OFF.), it stops after the specified Z count is detected.

3.2 Start direction to move to origin : CCW
CW and CCW become reverse operation by "3.1".

4. In case of sensing +SS(+SD) or -SS(-SD)

Under setting "Return the limit over(default)" by SmcWSetOrgMode function:
When the positive/negative direction slow down and stop limits (+SS(+SD) or -SS(-SD)) are detected, after motion stopped by slow down, it continues to move to origin with the same direction at a low speed.
But, in this case, it will be the condition for the motion that +SS(+SD) or -SS(-SD) are fall out before motion stops by slow down.

Please set +SS(+SD) or -SS(-SD) to [Slowdown Only (Not stop)] by SmcWSetInitialParam function when the conditions are not satisfied on above.