YASKAWA MP2000 Series - Page 184

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-19
Motion Commands
( 6 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09, bit 0 (BUSY)
Undefined length of time
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
IW0C, bit 1 (POSCOMP)
IW0C, bit 5 (ZRNC)
Depends on zero point return method.
1 scan
Undefined length of time1 scan
OW09, bit1 (ABORT)
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
IW0C, bit 1 (POSCOMP)
IW0C, bit 5 (ZRNC)
Undefined length of time1 scan
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
IW0C, bit 1 (POSCOMP)
IW0C, bit 5 (ZRNC)