YASKAWA MP2100 Series User Manual page 244

(4) Timing Charts
(a) Normal Execution
OW
IW 08 = 4 (INTERPOLATE)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
(b) Execution when an Alarm Occurs
OW
IW
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
Change target position each high-speed scan.
08 = 4 (INTERPOLATE)
1 scan
08 = 4(INTERPOLATE)
Alarm
08 = 4(INTERPOLATE)
1 scan
8.5 Interpolation (INTERPOLATE)
Undefined length of time
Undefined length of time
8
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