YASKAWA MP2000 Series - Page 204

6.2 Motion Command Details
6.2.4 Interpolation (INTERPOLATE)
6-39
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when an Alarm Occurs
OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
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
The target position is refreshed every high-speed scan.
Undefined length of time
IW0C, bit 1 (POSCOMP)
1 scan
Alarm
OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)