Yaskawa MP900 Series Motion Programming Manual - Manual (Page 71)

Motion Commands
2.1.5 ZERO POINT RETURN (ZRN)
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2.1.5 ZERO POINT RETURN (ZRN)
J Overview
The ZERO POINT RETURN (ZRN) command executes the zero point return operation. Up to
14 axes* can be designated simultaneously. The resulting stop position is set as the machine coor-
dinate origin.
The zero point return operation will be executed only for the specified axes. After the zero point
return operation has been completed for all of the designated axes, program execution proceeds
to the next block.
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Ma-
chine Controller. Refer to 1.1.2 Function Performance for details.
J
Description
ZRN command designation and the path of movement are as follows:
ZRN [axis1] − [axis2] − ⋅⋅⋅ ;
Axis designation + 0 (position is always 0)
axis 1
axis 2
axis 3
Machine coordinate
system origin
Current position
Figure 2.14 Path of Movement for Zero Point Return Operation
D When the ZRN command is executed, the returned position is set as the machine coordinate
origin. At the same time, the workpiece coordinate system previously set by CURRENT
POSITION SET (POS) is cancelled.
After the ZRN command has been executed, the machine coordinate system will be the same
as the workpiece coordinate system. Until the next time that CURRENT POSITION SET
(POS) is executed, MOVE ON MACHINE COORDINATES (MVM) will be ineffective,
even if it is designated.
Request for temporary stop of program is disabled during ZRN command execution. To stop the operation
on the way, execute request for stop of program.
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IMPORTANT