Yaskawa JAPMC-MC2300 - Manual (Page 153)

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
7-13
7
Motion Commands
( 5 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
IW 09, bit 0 (BUSY)
Undefined length of time
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
(EXT (DI_5), ZERO (DI_2),
or Phase-C pulse signal)
IW 0C, bit 1 (POSCOMP)
Latch signal
IW 0C, bit 2
(LCOMP: Latch Completed)
1 scan
Travel distance
This position is stored. (IL 18)
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
IW 09, bit 0 (BUSY)
Undefined length of time
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
1 scan
OW 09, bit 1 (ABORT)
Undefined length of time 1 scan
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
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)