Zero Return Operation

Example) Perform Zero Return Operation based on the following specifications.

・Moves in the negative direction at a target speed of 2500 and performs a Zero Return Operation.
・According to the Origin return motion pattern, it is necessary to set the Zero Return Operation separately using the SmcWSetOrgMode function before executing the SmcWSetInitParam function.

■ C

long Ret;
long ErrRet;
Short Id;
char ErrorString[256];

// Initialization process
// Not required if initialization has already been performed.
Ret = SmcWInit("SMC000", &Id);
ErrRet = SmcWGetErrorString( Ret, ErrorString );
printf("SmcWInit : %s", ErrorString );

// Reflects the contents of the initial setting function to the hardware.
Ret = SmcWSetInitParam( Id , 1 );
ErrRet = SmcWGetErrorString( Ret, ErrorString );
printf("SmcWSetInitParam : %s", ErrorString );

// Setting basic operating parameters
// Setting the target speed
// Default values are used for starting speed, acceleration time, deceleration time, and S-curve section, so no need to set them.
Ret = SmcWSetTargetSpeed( Id, 1, 2500);

// Setting start preparation parameters
// Setting motor operation type (3rd argument): 3: Zero Return Operation
// Setting motor operation direction (4th argument): 1: Negative direction
Ret = SmcWSetReady( Id , 1, 3 , 1 );
ErrRet = SmcWGetErrorString( Ret, ErrorString );
printf("SmcWSetReady : %s", ErrorString );

// Starting operation
Ret = SmcWMotionStart( Id , 1 );
ErrRet = SmcWGetErrorString( Ret, ErrorString );
printf("SmcWMotionStart : %s", ErrorString );
 

■ Visual Basic

Dim Ret   As Long
Dim ErrRet   As Integer
Dim Id   As Short
Dim ErrorString As StringBuilder

' Initialization process
' Not required if initialization has already been performed.
Ret = SmcWInit("SMC000", &Id)
ErrRet = SmcWGetErrorString( Ret, ErrorString )
Debug.Printf "SmcWInit : " & ErrorString

' Reflects the contents of the initial setting function to the hardware.
Ret = SmcWSetInitParam( Id , 1 )
ErrRet = SmcWGetErrorString( Ret, ErrorString )
Debug.Printf "SmcWSetInitParam : " & ErrorString

' Setting basic operating parameters
' Setting the target speed
' Default values are used for starting speed, acceleration time, deceleration time, and S-curve section, so no need to set them.
Ret = SmcWSetTargetSpeed( Id, 1, 2500)

' Setting start preparation parameters
' Setting motor operation type (3rd argument): 3: Zero Return Operation
' Setting motor operation direction (4th argument): 1: Negative direction
Ret = SmcWSetReady( Id , 1, 3, 1 )
ErrRet = SmcWGetErrorString( Ret, ErrorString )
Debug.Printf "SmcWSetReady : " & ErrorString

' Starting operation
Ret = SmcWMotionStart( Id , 1 )
ErrRet = SmcWGetErrorString( Ret, ErrorString )
Debug.Printf "SmcWMotionStart : " & ErrorString
 

■ C#

int Ret;
int ErrRet;
Short Id;
string ErrorString;

// Initialization process
// Not required if initialization has already been performed.
Ret = Smc.WInit("SMC000", out Id);
ErrRet = Smc.WGetErrorString( Ret, out ErrorString );
Debug.Print("SmcWInit: {0}", ErrorString);

// Reflects the contents of the initial setting function to the hardware.
Ret = Smc.WSetInitParam( Id , 1 );
ErrRet = Smc.WGetErrorString( Ret, out ErrorString );
Debug.Print("SmcWSetInitParam: {0}", ErrorString);

// Setting basic operating parameters
// Setting the target speed
// Default values are used for starting speed, acceleration time, deceleration time, and S-curve section, so no need to set them.
Ret = Smc.WSetTargetSpeed( Id, 1, 2500);

// Setting start preparation parameters
// Setting motor operation type (3rd argument): 3: Zero Return Operation
// Setting motor operation direction (4th argument): 1: Negative direction
Ret = Smc.WSetReady( Id , 1, 3 , 1 );
ErrRet = Smc.WGetErrorString( Ret, out ErrorString );
Debug.Print("SmcWSetReady: {0}", ErrorString);

// Starting operation
Ret = Smc.WMotionStart( Id , 1 );
ErrRet = Smc.WGetErrorString( Ret, out ErrorString );
Debug.Print("SmcWMotionStart: {0}", ErrorString);
 

■ Python

Ret = ctypes.c_long()
ErrRet = ctypes.c_long()
Id = ctypes.c_short()
ErrorString = ctypes.create_string_buffer(256)

# Initialization process
# Not required if initialization has already been performed.
Ret.value = csmc.SmcWInit("SMC000", ctypes.byref(Id))
ErrRet.value = csmc.SmcWGetErrorString( Ret, ErrorString )
print(f"SmcWInit : {ErrorString.value.decode('sjis')}")

# Reflects the contents of the initial setting function to the hardware.
Ret.value = csmc.SmcWSetInitParam( Id , 1 )
ErrRet.value = csmc.SmcWGetErrorString( Ret, ErrorString )
print(f"SmcWSetInitParam : {ErrorString.value.decode('sjis')}")

# Setting basic operating parameters
# Setting the target speed
# Default values are used for starting speed, acceleration time, deceleration time, and S-curve section, so no need to set them.
Ret.value = csmc.SmcWSetTargetSpeed( Id, 1, 2500);

# Setting start preparation parameters
# Setting motor operation type (3rd argument): 3: Zero Return Operation
# Setting motor operation direction (4th argument): 1: Negative direction
Ret.value = csmc.SmcWSetReady( Id , 1, 3 , 1 );
ErrRet.value = csmc.SmcWGetErrorString( Ret, ErrorString )
print(f"SmcWSetReady : {ErrorString.value.decode('sjis')}")

# Starting operation
Ret.value = csmc.SmcWMotionStart( Id , 1 );
ErrRet.value = csmc.SmcWGetErrorString( Ret, ErrorString )
print(f"SmcWMotionStart : {ErrorString.value.decode('sjis')}")