YASKAWA MP2000 Series User Manual page 209

7.2 Motion Command Details
7.2.7 STEP Operation (STEP)
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
7-70
OW 08 = 8 (STEP)
OW 09, bit 1 (ABORT)
IW 08 = 8 (STEP)
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
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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
Undefined length of time
Undefined length of time