YASKAWA MP2000 Series User Manual page 153

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
[ d ] Execution when an Alarm Occurs
7-14
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
Alarm
Undefined length of time