YASKAWA MP2000 Series User Manual page 152

( 5 ) Timing Charts
[ a ] Normal Execution
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_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)
Latch signal
(EXT (DI_5), ZERO (DI_2),
or Phase-C pulse signal)
IW 0C, bit 2
(LCOMP: Latch Completed)
[ b ] Execution when Aborted
OW 08 = 2 (EX_POSING)
OW 09, bit 1 (ABORT)
IW 08 = 2 (EX_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 = 2 (EX_POSING)
IW 08 = 2 (EX_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)
1 scan
1 scan Undefined length of time
1 scan Undefined length of time
7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
This position is stored. (IL 18)
Travel distance
Undefined length of time
7
7-13