Zset (Set Zero Point) - YASKAWA SVC User Manual

4.2 Motion Command Details

4.2.8 ZSET (Set Zero Point)

4.2.8 ZSET (Set Zero Point)
Execute the ZSET command to set the origin in the machine coordinate system. This enables
the origin to be set without performing an origin return operation.
Important
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
2.
Set the OW08 setting parameter (Motion Commands) to 9 to execute the ZSET
motion command.
A new machine coordinate system is established with the current position as the origin.
During the operation, the IW08 monitor parameter (Motion Command Response Code) is 9.
When the operation is completed, bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter will change to 1 (Zero point return/setting completed).
The position information when the operation is completed will depend on the axis setting, as shown
in the following table.
3.
Set OW08 to 0 to execute the NOP motion command.
This concludes the set zero point operation.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
4-60
When using software limits, always execute this command or an origin return operation. Software
limits are enabled after this command is completed.
No. Execution Condition
1 There must be no alarms.
Motion command execution for the target axis
2
must be completed.*
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
Axis Setting
Finite-length or infinite-length axis with an incre-
mental encoder
Finite-length axis with an absolute encoder
Simple absolute infinite-length axis with an abso-
lute encoder
Infinite-length axis with an absolute encoder
Confirmation Method
Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
IW09 must be 0.
Position Information When the Operation Is
Completed
The position information is initialized with the origin
offset in the machine coordinate system.
The position information is unchanged.
The position information is unchanged.
The position information is initialized with the origin
offset in the machine coordinate system.