YASKAWA JEPMC-MP2300-Y Series User Manual page 446

7 Motion Commands
7.2.23 Torque Reference (TRQ)
[ c ] Command Hold
OW
OW
IW
IW
IW
IW 09.bit3 (FAIL)
IW 09.bit8 (COMPLETE)
IW 0C.bit0 (DEN)
[ d ] Execution when an Alarm Occurs
7-88
08=24 (TRQ)
09.bit0 (HOLD)
08=24 (TRQ)
09.bit0 (BUSY)
09.bit1 (HOLDL)
1scan
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
Position Control Mode
Torque Control Mode
Undefined length of time
Torque Control Mode Position Control Mode