YASKAWA JEPMC-MP2300-Y Series User Manual page 397

( 4 ) Timing Charts
[ a ] Normal Execution
OW 08 = 4 (INTERPOLATE)
IW 08 = 4 (INTERPOLATE)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
[ b ] Execution when an Alarm Occurs
OW 08 = 4 (INTERPOLATE)
Alarm
IW 08 = 4 (INTERPOLATE)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
The target position is refreshed every high-speed scan.
1 scan Undefined length of time
1 scan Undefined length of time
7.2 Motion Command Details
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