YASKAWA JEPMC-MP2300-Y Series User Manual page 401

( 4 ) Timing Charts
[ a ] Normal Execution
OW 08 = 6 (LATCH)
IW 08 = 6 (LATCH)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
Latch signal *
IB 0C2 (LCOMP)
[ b ] Execution when an Alarm Occurs
OW 08 = 6 (LATCH)
Alarm
IW 08 = 6 (LATCH)
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
* Latch signal: Phase-C pulse, /EXT1, /EXT2, or /EXT3 signal
1 scan
This position is stored in IL 18.
Undefined length of time
Undefined length of time
7.2 Motion Command Details
7-43