YASKAWA MP2200

5.2
Motion Command Details
5-51
( 3 ) Operating Procedure
( 4 ) Holding
Holding execution is not possible during zero point return operation. The Command Pause bit
(OB

090) is ignored.
( 5 ) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB

091) to
1.
Set the Command Abort bit (OB

091) to 1. The axis will decelerate to a stop. When the axis has
stopped, the Positioning Completed bit (IB

01C) will turn ON.
This type of operation will also be performed if the motion command is changed during axis
movement.
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.
Set the motion setting parameters.
The parameters that need to be set will depend
on the zero point return method. Refer to the
previous pages for details.
• The software limit function will be enabled after the Zero Point Return
operation has been completed.
• The Command Pause (OB

090) cannot be used.
• Set OB

091 to 1 to abort the command.
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.
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