YASKAWA MP2100 Series User Manual page 238

(3) Operating Procedure
No. Execution Conditions
1 There are no alarms.
2
The Servo ON condition.
3 Motion command execution has been completed.
Set the motion setting parameters.
The parameters that need to be set will
depend on the zero point return method.
Refer to the previous pages for details.
Execute the zero point return (ZRET) motion
command.
• Set OW 08 to 3.
Zero point return operation starts.
• IW 08 will be 3 during execution.
Zero point return operation completed.
• IB 0C5 will turn ON.
Execute NOP motion command.
• Set OW 08 to 0.
(4) Holding
Holding execution is not possible during zero point return operation. The Command Pause bit (OB
ignored.
(5) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution
of a command. A command is aborted by setting the Command Abort bit (OB
Set the Command Abort bit (OB
Positioning Completed bit (IB
This type of operation will also be performed if the motion command is changed during axis movement.
Both IL
IB
IW
• The software limit function will be enabled after the Zero Point
Return operation has been completed.
• The Command Pause (OB
• Set OB
091) to 1. The axis will decelerate to a stop. When the axis has stopped, the
01C) will turn ON.
8.4 Zero Point Return (ZRET)
Confirmation Method
02 and IL 04 are 0.
001 is ON.
08 is 0 and IB 090 is OFF.
090) cannot be used.
091 to 1 to abort the command.
091) to 1.
090) is
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