YASKAWA MP2000 Series - Page 185

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-20
[ d ] Execution when an Alarm Occurs
Undefined length of time
Alarm
1 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)