YASKAWA MP2000 Series User Manual page 156

( 3 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
No.
1 There are no alarms.
2 The Servo ON condition.
3
Motion command execution has been completed.
* This condition is a basic execution condition. Refer to Chapter 8 Switching Commands during Execution on
page 8-1 when changing the command that is being executed to a ZRET command.
2.
When an incremental encoder is selected for the Encoder Selection by setting fixed parameter No. 30
to 0, set the zero point return method that will be used in the Zero Point Return Method (motion setting
parameter OW3C) as described on the previous page.
 The software limit function will be enabled after the zero point return operation has been completed.
3.
Refer to 7.2.3 ( 8 ) Zero Point Return Operation and Parameters on page 7-21 and set the required
parameters.
4.
Set OW08 to 3 to execute the ZRET motion command.
The zero point return operation will start. IW08 will be 3 during the operation.
IB0C, bit5 will turn ON when the axis reaches the zero point and zero point return has been completed.
5.
Set OW08 to 0 to execute the NOP motion command and then complete the zero point return
operation.
( 4 ) Holding
Holding execution is not possible during zero point return operation. The Holds A Command bit (OW09, bit 0) is
ignored.
( 5 ) Aborting
The zero point return can be canceled by aborting execution of a command. A command is aborted by setting the Inter-
rupt A Command bit (OW09, bit 1) to 1.
• Set the Interrupt A Command bit (OW09, bit 1) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the remain travel will be canceled and the Positioning Completed bit (IW0C,
bit 1) will turn ON.
• This type of operation will also be performed if the motion command is changed to NOP during axis move-
ment.
Execution Conditions
*
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
Confirmation Method
IL04 is 0.
IW00, bit 1 is ON.
IW08 is 0 and IW09, bit 0 is OFF.
7
7-17