YASKAWA MP2100 Series - Page 291

8 Motion Commands
8-82
(5) Timing Charts
(a) Normal Execution
(b) Executed when Aborted
(c) Execution when an Alarm Occurs
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
1 scan
IB0C1 (POSCOMP)
1 scan
OB091 (ABORT)
Torque Control Mode Position Control Mode
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
Alarm
IB0C1 (POSCOMP)
1 scan
Torque Control Mode Position Control Mode
Undefined length of time
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)