Yaskawa MP2200 Machine Controller - Manual (Page 284)

5 Motion Commands
5.2.3 Zero Point Return (ZRET)
5-54
( 7 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when Aborted
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
Undefined length of time
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C5 (ZRNC)
Depends on zero point return method.
1 scan
Undefined length of time 1 scan
OB 091 (ABORT)
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C5 (ZRNC)