Yaskawa MP920 Motion Module - Manual (Page 108)

2 Motion Control
2.4.9 Zero Point Setting (ZSET)
2-82
3. Set the zero point setting (ZSET = 9) in the motion command code (OW††20).
Note: Servo ON (bit 0 of OW††01) may be either ON or OFF. The zero
point setting (ZSET) command cannot be executed when the axis is
traveling if motion fixed parameter No. 3 (Encoder Selection) is set
to “absolute encoder” (= 1) and bit 5 (axis selection) of motion fixed
parameter No. 17 (Motion Controller Function Selection Flags) is set
to “infinite length axis” (= 1).
When the zero point setting has been completed, Zero Point Setting Completed (bit 3 of
IW††15) and the Zero Point Return Completed (bit 6 of IW††15) turn ON.