YASKAWA MP2200 User Manual

8.3
Motion Commands
8-33
( 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

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)
[ b ] Related Parameters
■
Setting 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 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.
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)
One scan
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.
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YASKAWA MP2200 Specifications

General

Brand	YASKAWA
Model	MP2200
Category	Controller
Language	English