YASKAWA MP2100 Series - Page 371

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
11-32
(8) Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system.
(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
• 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 Command Pause (OB

090) cannot be used.
• The Command 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.
One scan
OW08 = 9 (ZSET)
IW08 = 9 (ZSET)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
IB0C4 (ZERO)
IB0C5 (ZRNC)
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 com-
mand execution has been completed.
IB

091 Command 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 Execution
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.