Yaskawa MP2200 Machine Controller - Manual (Page 439)

8.3 Motion Commands
8-23
( 3 ) Zero Point Return (ZRET)
When a ZRET command is executed, the zero point return will be completed immediately. Position
information will not be updated.
[ a ] Operating Procedure
（ Note） The following position information is updated when command execution is
completed.
• Machine Coordinate Target Position (TPOS) (IL††0E) = Zero Point Offset (ABSOFF)
(OL††48)
• Target Position (CPOS) (IL††10) = Zero Point Offset (ABSOFF) (OL††48)
• Machine Coordinate System Position (MPOS) (IL††12) = Zero Point Offset (ABSOFF)
(OL††48)
• Machine Coordinate Feedback Position (APOS) (IL††16) = Zero Point Offset (ABSOFF)
(OL††48)
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.
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.
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
IB 0C4 (ZERO)
IB 0C5 (ZRNC)
One scan