YASKAWA JEPMC-MP2300-Y Series User Manual page 377

( 6 ) Timing Charts
[ a ] Normal Execution
OW
IW
IB
IB
IB
IB
IB
IB
[ b ] Execution when Aborted
OW
OB
IW
IB
IB
IB
IB
IB
IB
[ c ] Execution when Aborting by Changing the Command
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C5 (ZRNC)
08 = 3 (ZRET)
08 = 3 (ZRET)
090 (BUSY)
093 (FAIL)
098 (COMPLETE)
0C0 (DEN)
0C1 (POSCOMP)
1 scan
0C5 (ZRNC)
08 = 3 (ZRET)
091 (ABORT)
08 = 3 (ZRET)
090 (BUSY)
093 (FAIL)
098 (COMPLETE)
0C0 (DEN)
0C1 (POSCOMP)
1 scan
0C5 (ZRNC)
1 scan
Depends on zero point return method.
Undefined length of time
Undefined length of time
Undefined length of time
7.2 Motion Command Details
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