Yaskawa MP2200 Machine Controller - Manual (Page 281)

5.2 Motion Command Details
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( 3 ) Operating Procedure
( 4 ) Holding
Holding execution is not possible during zero point return operation. The Command Pause bit
(OB††090) is ignored.
( 5 ) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB††091) to
1.
Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop. When the axis has
stopped, the Positioning Completed bit (IB††01C) will turn ON.
This type of operation will also be performed if the motion command is changed during axis
movement.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Set the motion setting parameters.
The parameters that need to be set will depend
on the zero point return method. Refer to the
previous pages for details. • The software limit function will be enabled after the Zero Point Return
operation has been completed.
• The Command Pause (OB††090) cannot be used.
• Set OB††091 to 1 to abort the command.
Execute the zero point return (ZRET) motion
command.
• Set OW††08 to 3.
Zero point return operation starts.
• IW††08 will be 3 during execution.
Zero point return operation completed.
• IB††0C5 will turn ON.
Execute NOP motion command.
• Set OW††08 to 0.