YASKAWA S-7 Series Command Manual page 57

2.5 Command Header Section
2.5.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL
 Example of Canceling the POSING Command
CMD
CMD_CANCEL
CMD_CANCEL_CMP
DEN
PSET
 Example of Canceling the VELCTRL Command
CMD
ON
CMD_CANCEL
OFF
ON
CMD_CANCEL_CMP
OFF
ON
ZSPD
OFF
2-20
Communication cycle
POSING
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Communication cycle
VELCTRL