YASKAWA MP2100 Series User Manual page 371

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(8) Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system.
(a) 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
A new machine coordinate system will be
established with the current position as the
zero point.
• IW
execution.
Zero point setting 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
OW 08
OB 090
OB 091
• Monitoring Parameters
Parameter
IL 02
IL 04
IW 08
IB 090
IB 091
IB 093
IB 098
IB 0C5
11-32
Execution Conditions
08 to 9.
08 will be 9 during command
0C5 will turn ON.
08 to 0.
Name
Motion Command
Command Pause
Command Abort
Name
Warning
Alarm
Servo Command Type
Response
Command Executing
Command Hold
Completed
Command Error End
Command Execution
Completed
Zero Point Return
(Setting) Completed
Both IL
IW
OW 08 = 9 (ZSET)
IW 08 = 9 (ZSET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
IB 0C4 (ZERO)
IB 0C5 (ZRNC)
• The Command Pause (OB
• The Command Abort (OB
OE) = Zero Point Offset (ABSOFF) (OL
10) = Zero Point Offset (ABSOFF) (OL
12) = Zero Point Offset (ABSOFF) (OL
16) = Zero Point Offset (ABSOFF) (OL
Set to 9 for ZSET command.
This parameter is ignored for ZSET command.
This parameter is ignored for ZSET command.
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 com-
mand 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
02 and IL 04 are 0.
08 is 0 and IB 090 is OFF.
One scan
090) cannot be used.
091) cannot be used.
48)
Setting
Monitor Contents
48)
48)
48)