Yaskawa MP920 User's Manual Design - Manual (Page 160)

4 Motion Control
4.4.1 Overview of Motion Commands
4-46
3 Zero Point Return
(ZRET) Returns the system to the machine coordinate system zero point. Eight zero return
modes are provided.
4 Interpolation
(INTERPOLATE) Performs interpolation feeding using the position data distributed from the CPU
Module.
5 Not used. This command is used by the system.
Do not use it in a user program.
6 Interpolation with
Position Detection
(LATCH) Latches a counter when a latch signal is input during an interpolation feed operation,
and reports the changed latch position to the reference unit system.
(cont’d)
Command Name Description
0
1. 2. 3. 4.
Reverse direction ← → Forward direction
Zero point
Speed
reference Approach
speed
Rapid traverse
speed
Creep speed
Zero point return position
Dog
(Deceleration limit switch)
Zero point signal
(C-phase pulse)
Time
Zero point return final
travel distance
Speed
(%)
0
POSCOMP
Position
Time (t)
Positioning completed range
Speed
(%)
0
POSCOMP
(IL 06)
Reports this position.
Latch signal
Position
Time (t)
Positioning completed range