YASKAWA MP2200

8.3
Motion Commands
8-23
( 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

0E) = 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)
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
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