YASKAWA MP2000 Series - Page 257

6.2 Motion Command Details
6.2.24 Phase References (PHASE)
6-92
[ b ] Execution when Aborted
[ c ] Execution when an Alarm Occurs
Undefined length of time
IW0C, bit 1 (POSCOMP)
1scan
OW08=25(PHASE)
IW09, bit 0 (BUSY)
IW08=25(PHASE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
IW09, bit 8 (COMPLETE)
The Target Position is automatically refreshed every scan.
Undefined length of time
IW0C, bit 1 (POSCOMP)
1 scan
Alarm
OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)