YASKAWA MP2000 Series User Manual page 211

7.2 Motion Command Details
7.2.8 Zero Point Setting (ZSET)
( 4 ) Timing Charts
[ a ] Normal Execution
7-72
OW 08 = 9 (ZSET)
IW 08 = 9 (ZSET)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 5 (ZRNC)