Zero Point Setting (Zset) - YASKAWA MP2100 Series User Manual

8.9 Zero Point Setting (ZSET)

The ZSET command sets the current position as the zero point of the machine coordinate system. This enables
establishing the zero point without performing a zero point return operation.
Either a zero point return or zero point setting must be performed to enable using the soft limits.
(1) Operating Procedure
No.
1 There are no alarms.
2
Motion command execution has been completed.
Execute the zero point setting (ZSET) motion
command.
• Set OW 08 to 9.
A new machine coordinate system will be
established with the current position as the
zero point.
• IW 08 will be 9 during command
execution.
Zero point setting completed.
• IB 0C5 will turn ON.
Execute NOP motion command.
• Set OW 08 to 0.
(2) Holding and Aborting
The Command Pause bit (OB
(3) Related Parameters
(a) Setting Parameters
Parameter
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
(b) Monitoring Parameters
Parameter
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command
Type Response
IB 090 Command Executing
IB 091 Hold Completed
IB 093 Command Error End
IB 098 Command
Completed
IB 0C5 Zero Point Return
(Setting) Completed
Execution Conditions
090) and the Command Abort bit (OB
Name
Set to 9 for ZSET command.
This parameter is ignored for ZSET command.
This parameter is ignored for ZSET command.
Name
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code will be 9 during ZSET command execution.
Turns ON during ZSET command execution and turns OFF when ZSET command
execution has been completed.
Always OFF for ZSET command.
Turns ON if an error occurs during ZSET command execution. Turns OFF when
another command is executed.
Turns ON when ZSET command execution has been completed.
Turns ON when the zero point has been established.
Confirmation Method
Both IL 02 and IL
IW 08 is 0 and IB
• The soft limits will be enabled after the Zero Point Setting
command has been completed.
• The Execution Pause (OB
• The Execution Abort (OB
091) cannot be used.
Setting
Monitor Contents
8.9 Zero Point Setting (ZSET)
04 are 0.
090 is OFF.
090) cannot be used.
091) cannot be used.
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