YASKAWA MP2000 Series - Page 174

6.2 Motion Command Details
6.2.1 Position Mode (POSING) (Positioning)
6-9
Motion Commands
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
[ d ] Command Hold
Undefined length of time1 scan
OW09, bit 1 (ABORT)
OW08 = 1 (POSING)
IW08 = 1 (POSING)
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)
Undefined length of time1 scan
1 scan
OW08 = 1 (POSING)
IW08 = 1 (POSING)
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)
Undefined length of time1 scan
OW09, bit 0 (HOLD)
IW09, bit 1 (HOLDL)
OW08 = 1 (POSING)
IW08 = 1 (POSING)
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)