Yaskawa JAPMC-MC2300 - Manual (Page 212)

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