YASKAWA MP2000 Series User Manual page 198

( 4 ) Timing Charts
[ a ] Normal Execution
OW 08 = 4 (INTERPOLATE)
IW 08 = 4 (INTERPOLATE)
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)
[ b ] Execution when an Alarm Occurs
OW 08 = 4 (INTERPOLATE)
Alarm
IW 08 = 4 (INTERPOLATE)
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)
The target position is refreshed every high-speed scan.
1 scan Undefined length of time
1 scan Undefined length of time
7.2 Motion Command Details
7.2.4 Interpolation (INTERPOLATE)
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