YASKAWA MP2100 Series User Manual

8.9 Zero Point Setting (ZSET)
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8.9 Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system. This enables
establishing the zero point without performing a zero point return operation.
Either a zero point return or zero point setting must be performed to enable using the soft limits.
(1) Operating Procedure
(2) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
(3) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
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.
Execute the zero point setting (ZSET) motion
command.
• Set OW

08 to 9.
• The soft limits will be enabled after the Zero Point Setting
command has been completed.
• The Execution Pause (OB

090) cannot be used.
• The Execution Abort (OB

091) cannot be used.
A new machine coordinate system will be
established with the current position as the
zero point.
• IW

08 will be 9 during command
execution.
Zero point setting completed.
• IB

0C5 will turn ON.
Execute NOP motion command.
• Set OW

08 to 0.
Parameter Name Setting
OW

08 Motion Command Set to 9 for ZSET command.
OB

090 Command Pause This parameter is ignored for ZSET command.
OB

091 Command Abort This parameter is ignored for ZSET command.
Parameter Name Monitor Contents
IL

02 Warning Stores the most current warning.
IL

04 Alarm Stores the most current alarm.
IW

08 Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 9 during ZSET command execution.
IB

090 Command Executing Turns ON during ZSET command execution and turns OFF when ZSET command
execution has been completed.
IB

091 Hold Completed Always OFF for ZSET command.
IB

093 Command Error End Turns ON if an error occurs during ZSET command execution. Turns OFF when
another command is executed.
IB

098 Command
Completed
Turns ON when ZSET command execution has been completed.
IB

0C5 Zero Point Return
(Setting) Completed
Turns ON when the zero point has been established.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English