YASKAWA MP2000 Series - Page 216

6.2 Motion Command Details
6.2.7 Relative Position Mode (STEP) (Step Mode)
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Motion Commands
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
Undefined length of time1 scan
OW09, bit 1 (ABORT)
OW08 = 8 (STEP)
IW08 = 8 (STEP)
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08 = 8 (STEP)
IW08 = 8 (STEP)
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 time
Alarm
1 scan
OW08 = 8 (STEP)
IW08 = 8 (STEP)
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)