Yaskawa MP920 User's Manual Design - Manual (Page 181)

4.4 Position Control Using Motion Commands
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9. When the dog goes high, the axis stops after traveling only the zero point return final
travel distance (OL††2A) from the initial zero point signal (C-phase pulse), and that
position will be the machine coordinate system zero point.
A zero point position offset value can also be set. (If Zero Point Offset OL††06 is set in
advance to 100, the position data will be 100.)
10.The zero point return operation is completed when the axis enters the Positioning Com-
pleted Range (OW††0E) after Distribution Completed (bit 2 of IW††15 is ON).
When the zero point return operation is completed, the ZRNC Zero Point Return Com-
pleted (bit 6 of IW††15) turns ON.
11.After checking that the ZRNC Zero Point Completed (bit 6 of IW††15) is ON, set
NOP (= 0) in the motion command code (OW††20).
Return (ZRET completed)
YES
YES
YES
NO
NO
NO
Return (ZRET executing)
ZRET
End condition check
Return (Other motion
command executing)
Motion command response
=ZRET?
Motion command status
BUSY=OFF?
ZRNC operation status =
ON?