YASKAWA MP2100 Series User Manual page 222

(5) Timing Charts
(a) Normal Execution
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
Latch signal
Phase-C, EXT1,2,3
IB 0C2 (LCOMP)
(Latch Completed)
(b) Execution when Aborted
OW
OB
IW
IB
IB
IB
IB
IB
(c) Execution when Aborting by Changing the Command
OW
IW
IB
IB
IB
IB
IB
1 scan
08 = 2 (EX_POSING)
091 (ABORT)
08 = 2 (EX_POSING)
090 (BUSY)
093 (FAIL)
098 (COMPLETE)
0C0 (DEN)
0C1 (POSCOMP)
1 scan
08 = 2 (EX_POSING)
08 = 2 (EX_POSING)
090 (BUSY)
093 (FAIL)
098 (COMPLETE)
0C0 (DEN)
0C1 (POSCOMP)
1 scan
8.3 External Positioning (EX_POSING)
This position is stored. (IL 18)
Travel distance
Undefined length of time
Undefined length of time
Undefined length of time
8
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