Yaskawa JAPMC-MC2300 - Manual (Page 199)

7.2 Motion Command Details
7.2.4 Interpolation (INTERPOLATE)
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7
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when an Alarm Occurs
OW 08 = 4 (INTERPOLATE)
IW 08 = 4 (INTERPOLATE)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
Undefined length of time 1 scan
The target position is refreshed every high-speed scan.
Undefined length of time
IW 0C, bit 1 (POSCOMP)
1 scan
Alarm
OW 08 = 4 (INTERPOLATE)
IW 08 = 4 (INTERPOLATE)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)