Yaskawa JAPMC-MC2300 - Manual (Page 211)

7.2 Motion Command Details
7.2.8 Zero Point Setting (ZSET)
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Motion Commands
7.2.8 Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system. This enables setting
the zero point without performing a zero point return operation.
When using software limits, always execute the zero point setting or zero point return operation. The software limit
function will be enabled after the zero point setting operation has been completed.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 9 to execute the ZSET motion command.
A new machine coordinate system will be established with the current position as the zero point. IW 08 will
be 9 during the zero point setting operation. IW 0C, bit 5 will turn ON when zero point setting has been com-
pleted.
3. Set OW 08 to 0 to execute the NOP motion command and then complete the zero point setting.
( 2 ) Holding and Aborting
The Holds A Command bit (OW 09, bit 0) and the Interrupt A Command bit (OW 09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. IL 04 is 0.
2 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Parameter Name Setting
OW 08 Motion Command Set to 9 for ZSET command.
OW 09
Bit 0
Holds A Command This parameter is ignored for ZSET command.
OW 09
Bit 1
Interrupt A Command This parameter is ignored for ZSET command.
OL 48
Zero Point Position in
Machine Coordinate
System Offset
Sets the position offset from the zero point in the machine coordinate system after the
setting of the zero point has been completed.
Parameter Name Monitor Contents
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code is 9 during ZSET command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during ZSET command execution and turns OFF when ZSET command exe-
cution has been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for ZSET command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during ZSET command execution.
Turns OFF when another command is executed.
IW 09
Bit 8
Command Execution
Completed
Turns ON when ZSET command execution has been completed.
IW 0C
Bit 5
Zero Point Return
(Setting) Completed
Turns ON when the setting of the zero point has been completed.