YASKAWA SVC - ZSET (Set Zero Point)

4.2 Motion Command Details
4.2.8 ZSET (Set Zero Point)
4-60
4.2.8 ZSET (Set Zero Point)
Execute the ZSET command to set the origin in the machine coordinate system. This enables
the origin to be set without performing an origin return operation.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the OW08 setting parameter (Motion Commands) to 9 to execute the ZSET
motion command.
A new machine coordinate system is established with the current position as the origin.
During the operation, the IW08 monitor parameter (Motion Command Response Code) is 9.
When the operation is completed, bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter will change to 1 (Zero point return/setting completed).
The position information when the operation is completed will depend on the axis setting, as shown
in the following table.
3. Set OW08 to 0 to execute the NOP motion command.
This concludes the set zero point operation.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
When using software limits, always execute this command or an origin return operation. Software
limits are enabled after this command is completed.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
Axis Setting
Position Information When the Operation Is
Completed
Finite-length or infinite-length axis with an incre-
mental encoder
The position information is initialized with the origin
offset in the machine coordinate system.
Finite-length axis with an absolute encoder The position information is unchanged.
Simple absolute infinite-length axis with an abso-
lute encoder
The position information is unchanged.
Infinite-length axis with an absolute encoder
The position information is initialized with the origin
offset in the machine coordinate system.
Important