Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 181)

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-20
[ d ] Execution when an Alarm Occurs
Undefined length of time
Alarm
1 scan
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
IW 0C, bit 5 (ZRNC)