Yaskawa MP940 Reference Manual - Manual (Page 471)

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual
11-74
The axis moves at fast feed speed in the direction specified in “Zero-point
Return Direction Selection” (OWC0009).
The motion parameter settings cannot be modified during zero-point
return execution.
The operation of the zero-point return command is as follows:
a. Run Start
RUN (bit 0 of OWC001)
b. Set zero-point return (ZRET = 3) in the motion commands (OWC020).
c. Command Hold
Not possible
d. Command Abort
Turns the ABORT command (bit 1 of OWC021) ON or sets NOP (=0)
into the motion commands. BUSY (bit 0 of IWC0150) goes ON during
abort processing, and goes OFF at abort completion.
ZRET
Start Condition Check
Control Mmode = Position Control?
Motion Command Code
=NOP||ENDOF INTERPOLATE?
return(OK)
return(NG)
return(NG)
YES
YES
YES
NO
NO
NO
Motion Command Response = NOP a
INTERPOLATE a
ENDOF INTERPOLATE?
Motion Command Status
BUSY=OFF?
YES
NO