YASKAWA MP2000 Series User Manual page 146

[ b ] Execution when Aborted
OW 08 = 1 (POSING)
OW 09, bit 1 (ABORT)
IW 08 = 1 (POSING)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
[ c ] Execution when Aborting by Changing the Command
OW 08 = 1 (POSING)
IW 08 = 1 (POSING)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
[ d ] Command Hold
OW 08 = 1 (POSING)
OW 09, bit 0 (HOLD)
IW 08 = 1 (POSING)
IW 09, bit 0 (BUSY)
IW 09, bit 1 (HOLDL)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
1 scan Undefined length of time
1 scan Undefined length of time
1 scan Undefined length of time
7.2 Motion Command Details
7.2.1 Positioning (POSING)
1 scan
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