YASKAWA MP2100 Series - Page 223

8 Motion Commands
8-14
(d) Execution when an Alarm Occurs
Undefined length of time
Alarm
1 scan
OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
IB0C1 (POSCOMP)