Yaskawa MP900 Series Motion Programming Manual - Manual (Page 75)

Motion Commands
2.1.5 ZERO POINT RETURN (ZRN)
2 -22
J Programming Examples
A programming example for zero point return operation in ABS mode is shown in the following
illustration.
ABS;
ZRN [axis1] 0 [axis2] 0;
Current position
Zero point return
operation
The stop position is set as the machine coordinate origin (0, 0).
axis 1
axis 2
Figure 2.15 Programming Example for Zero Point Return Operation 4
The parameters and Servopack user constants relating to zero point return are shown in the fol-
lowing table.
D Zero point return direction Setting parameter Operation Mode Settings
(OWxx0069 Home Position Return Direction)
D Zero point return feed speed Setting parameter 30 Rapid Traverse Speed (OLxx22)
D Approach speed Cn-0022 Zero Point Return Approach Speed 1
D Creep speed Cn-0023 Zero Point Return Approach Speed 2
D Final travel distance Cn-0028, Zero Point Return Final Travel Distance
Be sure to specify 0 after the axis. If 0 is omitted, an error will result.
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EXAMPLE
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