Yaskawa MP2200 Machine Controller - Manual (Page 244)

5 Motion Commands
5.2.2 External Positioning (EX_POSING)
5-14
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
Undefined length of time 1 scan
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
Undefined length of time
Alarm
1 scan
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)