YASKAWA MP2100 Series User Manual page 217

8 Motion Commands
(5) Timing Charts
(a) Normal Execution
(b) Execution when Aborted
(c) Execution when Aborting by Changing the Command
8-8
OW 08 = 1 (POSING)
IW 08 = 1 (POSING)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
1 scan
OW 08 = 1 (POSING)
OB 091 (ABORT)
IW 08 = 1 (POSING)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
1 scan
OW 08 = 1 (POSING)
IW 08 = 1 (POSING)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
1 scan
Undefined length of time
Undefined length of time
1 scan
Undefined length of time