Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 63)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands
2-22
2.1.5 Zero-point Return (ZRN)
! ! ! ! Outline
The zero-point return (ZRN) command is a command that designates the zero-point return
motion. Up to 14 axes can be designated. The point at which the motion stops is set up as
the zero-point of the machine coordinate.
The move function advances to the next block after all designated axes have finished the
zero-point return motion.
! ! ! ! Detailed Explanation
The designating method of the ZRN command and the move path are shown as follows:
• When the ZRN command is executed, the position to which the axis returns is set up as
the zero-point of the machine coordinate. At the same time, the work coordinate set up
previously by the current value change (POS) command is cancelled.
• When the ZRN command is executed, the machine coordinate and work coordinate
become the same. Even though the machine coordinate (MVW) is designated, it is
disabled until the next current value change (POS) command is executed.
ZRN [axis1]—[axis2]—•••;
Axis designation + 0 (the position is always 0)
axis3
axis2
axis1
Current position
Machine coordinate
zero-point
Figure 2.15: Move Path of the Zero-point Return Motion