YASKAWA MP2100 Series User Manual page 291

8 Motion Commands
(5) Timing Charts
(a) Normal Execution
(b) Executed when Aborted
(c) Execution when an Alarm Occurs
8-82
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
OW 08 = 24 (TRQ)
OB 091 (ABORT)
IW 08 = 24 (TRQ)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
1 scan
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
1 scan
Alarm
1 scan
Torque Control Mode
Torque Control Mode
Position Control Mode
Undefined length of time
Position Control Mode