YASKAWA MP2000 Series User Manual page 215

7.2 Motion Command Details
7.2.9 Speed Reference (VELO)
[ b ] Execution when Aborted
[ c ] Command Hold
[ d ] Execution when an Alarm Occurs
7-76
OW 08 = 23 (VELO)
OW 09, bit 1 (ABORT)
IW 08 = 23 (VELO)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
OW 08=23(VELO)
OW 09, bit 0(HOLD)
IW 08=23(VELO)
IW 09, bit 0 (BUSY)
IW 09, bit 1 (HOLDL)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
1scan
OW 08
IW 08
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
Alarm
Speed Control Mode
Speed Control Mode
1 scan
Speed control mode
Position Control Mode
Position Control Mode
Position control mode