Yamaha SRCD User Manual page 115

(10) Return-to-origin status check .............................................. Code 020A
It reads that the return-to-origin is completed in all axes or specified axes.
In thee all-axis specification mode, the result becomes 1 only when all axes are
completely returned to the origin.
QWn+22
IWm+22
(Details)
Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis
controllers, all axes are also specified when 3 is set.
On single-axis controllers, 0 or 1 alone can be specified.
Origin status: 0 means that the origin is incomplete, and 1 means that the return-
to-origin is completed.
(Example)
Transmission example 1:
It reads that the return-to-origin is completed in all axes.
Response example 1:
The return-to-origin is completed in all axes.
Command option
QWn+20 QWn+18
Command response
IWm+20 IWm+18
QWn+22 QWn+20 QWn+18
0000 0000 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
109
CHAPTER2 PROFIBUS Unit
QWn+16 QWn+14
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0001
QWn+12
Axis
IWm+12
Origin status
QWn+10 QWn+8
0000 020A
IWm+10 IWm+8
0000 0200