YASKAWA MP2100 Series - Page 361

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
11-22
(3) Zero Point Return (ZRET)
When a ZRET command is executed, the zero point return will be completed immediately. Position information
will not be updated.
(a) Operating Procedure
Note: The following position information is updated when command execution is completed.
• Machine Coordinate Target Position (TPOS) (IL

OE) = Zero Point Offset (ABSOFF) (OL

48)
• Target Position (CPOS) (IL

10) = Zero Point Offset (ABSOFF) (OL

48)
• Machine Coordinate System Position (MPOS) (IL

12) = Zero Point Offset (ABSOFF) (OL

48)
• Machine Coordinate Feedback Position (APOS) (IL

16) = Zero Point Offset (ABSOFF) (OL

48)
(b) Related Parameters
• Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL

02 and IL

04 are 0.
2 The Servo ON condition. IB

001 is ON.
3 Motion command execution has been completed. IW

08 is 0 and IB

090 is OFF.
Execute the zero point return (ZRET) motion
command.
• Set OW

08 to 3.
Zero point return operation starts.
• IW

08 will be 3 during execution.
Zero Point Return operation completed.
• IB

0C5 will turn ON.
Execute NOP motion command.
• Set OW

08 to 0.
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
IB0C4 (ZERO)
IB0C5 (ZRNC)
One scan
Parameter Name Setting
OB

000 Servo ON Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command Code (OW

08) to
3.
OW

03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08 Motion Command The zero point return operation starts when this parameter is set to 3. The
operation will be canceled if this parameter is set to 0 during ZRET command
execution.
OB

091 Command Abort The zero point return operation will be canceled if this bit is set to 1 during
zero point return operation.
OB

095 Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command Code (OW

08) to
3.
OW

3D Home Window Set the width in which the Zero Point Position bit (IB

0C4) will be ON.