YASKAWA JEPMC-MP2300-Y Series

7
Motion Commands
7.2.8
Zero Point Setting (ZSET)
7-52
[ d ] Execution when an Alarm Occurs
7.2.8 Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system.
This enables setting the zero point without performing a zero point return operation.

When using software limits, always execute the zero point or zero point return operation. The soft-
ware limit function will be enabled after the zero point setting operation has been completed.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied
.
2.
Set OW

08 to 9 to execute the ZSET motion command.
A new machine coordinate system will be established with the current position as the zero
point. IW

08 will be 9 during the zero point setting operation. IB

0C5 will turn ON
when zero point setting has been completed.
3.
Set OW

08 to 0 to execute the NOP motion command and then complete the zero
point setting.
Undefined length of time
Alarm
1 scan
OW08 = 8 (STEP)
IW08 = 8 (STEP)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
IB0C1 (POSCOMP)
R
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.