YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.8 Set Zero Point (ZSET)
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6.2.8 Set Zero Point (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 software 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. IW0C, bit 5 will turn ON when zero point setting has been com-
pleted.
The position data when the zero point setting is completed will differ depending on the axis setting, as shown in
the following table.
3. Set OW08 to 0 to execute the NOP motion command and then complete the zero point setting.
( 2 ) Holding and Aborting
The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
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 IW09, bit 0 is OFF.
Axis Setting Position Data When Zero Point Setting is Completed
With incremental encoder, finite length axis or infinite
length axis
Initialized with the zero point offset of the machine coordi-
nate system.
With absolute (ABS) encoder, finite length axis Unchanged
With absolute (ABS) encoder, simple ABS infinite length
axis
Unchanged
With absolute (ABS) encoder, infinite length axis
Initialized with the zero point offset of the machine coordi-
nate system.
Parameter Name Setting SVR
OW08 Motion Command
Set to 9 for ZSET command.
OW09
Bit 0
Command Pause
This parameter is ignored for ZSET command.
OW09
Bit 1
Holds a Command
This parameter is ignored for ZSET command.
OL48
Interrupt a Com-
mand
Sets the position offset from the zero point in the machine coordinate system
after the setting of the zero point has been completed.
R
R
R
R

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English