Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 178)

8.2 Axis Move Commands
8-71
8
Command Reference
(3) Setting Items for ZRN Command
(a) Zero Point Return Methods
Use motion setting parameter OW 3C (Zero point return method) to set the zero point return method for
each axis.
The table below lists the available zero point return methods.
Refer to the relevant motion module manual for details on each method.
(b) Zero Point Return Speed
The zero point return speed depends on the applied zero point return method.
For details, refer to the relevant motion module manual.
(4) Programming Examples
A programming example of a ZRN command in ABS mode is shown below.
Zero Point Return Method
Setting
(OW 3C)
SVA-01
SVB-01/
Built-in SVB
PO-01
DEC1 + Phase-C pulse 0 Available Available N/A
ZERO signal 1 Available Available N/A
DEC1 + ZERO signal 2 Available Available Available
Phase-C pulse 3 Available Available N/A
DEC2 + ZERO signal 4 Available N/A Available
DEC1 + LMT + ZERO signal 5 Available N/A Available
DEC2 + Phase-C signal 6 Available N/A N/A
DEC1 + LMT + Phase-C signal 7 Available N/A N/A
C pulse only 11 Available Available N/A
P-OT & Phase-C pulse 12 Available Available N/A
P-OT 13 Available Available N/A
HOME LS & Phase-C pulse 14 Available Available N/A
HOME LS 15 Available Available N/A
N-OT & Phase-C pulse 16 Available Available N/A
N-OT 17 Available Available N/A
INPUT & Phase-C pulse 18 Available Available N/A
INPUT 19 Available Available N/A
ZRN [A1]0 [B1]0;
END;
EXAMPLE
B1
A1
Program
current position
Zero point return operation
The stop position is set to the machine coordinate origin (0, 0).