Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 177)

8 Command Reference
8.2.7 Zero Point Return (ZRN)
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8.2.7 Zero Point Return (ZRN)
(1) Overview
The Zero Point Return (ZRN) command executes the zero point return operation. Up to 16 axes can be desig-
nated simultaneously. An axis unspecified in the command block will not move. The resulting stop position is set
as the machine coordinate origin.
Fig. 8.39 Movement Path with ZRN Command
When the ZRN command is executed, the returned position is set as the machine coordinate origin. At the same
time, the work 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 work coordi-
nate 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.
Refer to 8.3.1 Current Position Set (POS) for details of the machine coordinate system and work coordinate sys-
tem.
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.
Refer to 4.3.3 Work Registers for information on Program Pause Request and Program Stop Request signals.
(2) Format
Motion Programs Sequence Programs
Available Not Available
Logical axis 3
Logical axis 1
Logical axis 2
Machine coordinate
system origin
Program
current position
IMPORTANT
... ;
Note: Always code “0” after each logical axis name.
ZRN [Logical axis name 1] 0 [Logical axis name 2] 0 [Logical axis name 3] 0