YASKAWA MP2000 Series User Manual page 159

7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
[ d ] Execution when an Alarm Occurs
7-20
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
1 scan
IW 0C, bit 5 (ZRNC)
Alarm
Undefined length of time