Yaskawa MP2200 Machine Controller - Manual (Page 449)

8.3 Motion Commands
8-33
( 8 ) Zero Point Setting (ZSET)
The ZSET command sets the current position as the zero point of the machine coordinate system.
[ 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)
[ b ] Related Parameters
■ Setting Parameters
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 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.
OW 08 = 9 (ZSET)
IW 08 = 9 (ZSET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
IB 0C4 (ZERO)
IB 0C5 (ZRNC)
One scan
Parameter Name Setting
OW††08 Motion Command Set to 9 for ZSET command.
OB††090 Command Pause This parameter is ignored for ZSET command.
OB††091 Command Abort This parameter is ignored for ZSET command.