YASKAWA MP2100 Series User Manual page 361

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(3) Zero Point Return (ZRET)
When a ZRET command is executed, the zero point return will be completed immediately. Position information
will not be updated.
(a) Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3 Motion command execution has been completed.
Execute the zero point return (ZRET) motion
command.
• Set OW
Zero point return operation starts.
• IW
Zero Point Return operation completed.
• IB
Execute NOP motion command.
• Set OW
Note: The following position information is updated when command execution is completed.
• Machine Coordinate Target Position (TPOS) (IL
• Target Position (CPOS) (IL
• Machine Coordinate System Position (MPOS) (IL
• Machine Coordinate Feedback Position (APOS) (IL
(b) Related Parameters
• Setting Parameters
Parameter
OB 000
OW 03
OW 08
OB 091
OB 095
OW 3D
11-22
Execution Conditions
08 to 3.
08 will be 3 during execution.
0C5 will turn ON.
08 to 0.
Name
Servo ON
Function 1
Motion Command
Command Abort
Position Reference
Type
Home Window
Both IL
IB 001 is ON.
IW
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
IB 0C4 (ZERO)
IB 0C5 (ZRNC)
OE) = Zero Point Offset (ABSOFF) (OL
10) = Zero Point Offset (ABSOFF) (OL
12) = Zero Point Offset (ABSOFF) (OL
16) = Zero Point Offset (ABSOFF) (OL
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command Code (OW
3.
Set the speed unit, acceleration/deceleration unit, and filter type.
The zero point return operation starts when this parameter is set to 3. The
operation will be canceled if this parameter is set to 0 during ZRET command
execution.
The zero point return operation will be canceled if this bit is set to 1 during
zero point return operation.
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command Code (OW
3.
Set the width in which the Zero Point Position bit (IB
Confirmation Method
02 and IL 04 are 0.
08 is 0 and IB 090 is OFF.
One scan
48)
Setting
48)
48)
48)
08) to
08) to
0C4) will be ON.