Yaskawa MP2200 Machine Controller - Manual (Page 302)

5 Motion Commands
5.2.8 Zero Point Setting (ZSET)
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5.2.8 Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system.
This enables establishing the zero point without performing a zero point return operation.
Either a zero point return or zero point setting must be performed to enable using the soft limits.
( 1 ) Operating Procedure
( 2 ) Holding and Aborting
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Execute the zero point setting (ZSET) motion
command.
• Set OW††08 to 9.
• The soft limits will be enabled after the Zero Point Setting command
has been completed.
• The Execution Pause (OB††090) cannot be used.
• The Execution Abort (OB††091) cannot be used.
A new machine coordinate system will be
established with the current position as the zero
point.
• IW††08 will be 9 during command
execution.
Zero point setting completed.
• IB††0C5 will turn ON.
Execute NOP motion command.
• Set OW††08 to 0.