Yaskawa MP940 Reference Manual - Manual (Page 475)

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual
11-78
Ladder Program Example (zero-point return program example dwg H03)
Although the examples in the above figures are extremely simplified, in
reality each of the register types can be freely controlled by the user
program.
IFON
H0101
RUNMOD
Ë
OWC000
RUN
OBC0010
SB000004
3
MCMDCODE
OWC020
IEND
Executes zero point return (ZRET) as
a motion command
Zero point return starts when IB00304
is ON.
The zero point return completion state
(IBC0156) goes ON at zero point
return completion.
The motion command code becomes
NOP(=0) after the the zero point return
completion satatus (IBC0156) goes
ON.
RUNPB
IB00304
Run commad (RUN) to drive
Position control mode ON
0000005000
RV
OLC022 Fast feed speed (RV)
(5000000 pulses/min)
DB000000
LSDEC
OBC001F
IB00310
IB00310: Limit Switch Signal
MCMDRCODE
IWC014 = 0003 DB000000
ZRNC
IBC0156
00000
MCMDCODE
OWC020
IEND
DEND
H0104
RUNMOD
OWC000
IFON