Yaskawa MP940 Reference Manual - Manual (Page 487)

Zero-point Setting (ZSET) MotionSuite™ MP940 Machine Controller Reference Manual
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2. Select the position control mode (PCON) (Bit 2 of OWC000).
Note: Set bit 7 “Motion Command Use Selection” of
fixed motion parameter 14 “Additional Func-
tion Selections” to “Use” (= 1). Alternately, set
bit 8 “Motion Command Code Selection” of
fixed motion parameter 14 “Additional Func-
tion Selections” to “Enabled” (= 1).
3. Set zero-point setting (ZRET = 9) in the motion commands (OWC020).
Note: The RUN command (bit 1 of OWC001) can be
either ON or OFF. It is possible to execute zero-
point setting (ZSET) during axis motion if
fixed motion parameter 3 “Encoder Selection”
is set to “absolute encoder (= 1)”, and bit 5
“Axis Selection” of fixed motion parameter 17
“Motion Controller Function Selection Flag” is
set to “Infinite Length Axis (= 1)”.
4. Upon feed completion, zero-point setting completion (bit 3 of
IWC015) and zero-point return completion state (bit 6 of IWC015) are
both ON.
ZSET
Start Condition Check
Motion Command Code
= NOP?
return(OK)
YES
YES
NO
NO
YES
NO
Motion Command Response
= NOP?
return(NG)
Motion Command Status
BUSY=OFF?