YASKAWA MP2000 Series User Manual page 158

( 7 ) Timing Charts
[ a ] Normal Execution
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
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)
IW 0C, bit 5 (ZRNC)
[ b ] Execution when Aborted
OW 08 = 3 (ZRET)
OW 09, bit1 (ABORT)
IW 08 = 3 (ZRET)
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)
IW 0C, bit 5 (ZRNC)
[ c ] Execution when Aborting by Changing the Command
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
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)
IW 0C, bit 5 (ZRNC)
Depends on zero point return method.
Undefined length of time
1 scan
1 scan Undefined length of time
1 scan Undefined length of time
7.2 Motion Command Details
7.2.3 Zero Point Return (ZRET)
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