YASKAWA SVC - Page 154

4.2 Motion Command Details
4.2.1 POSING (Positioning)
4
Motion Control Program Commands and Instructions
4-11
Timing Charts
 Normal Execution
 Execution When Canceled
 Execution When Command Is Changed
OW08 = 1 (POSING)
IW08 = 1 (POSING)
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)
1 scan
This interval is not constant.
1 scan
OW09 Bit 1 (ABORT)
OW08 = 1 (POSING)
IW08 = 1 (POSING)
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)
This interval is not constant.
1 scan
1scan
OW08 = 1 (POSING)
IW08 = 1 (POSING)
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)
This interval is not constant.