Yaskawa JAPMC-MC2300 - Manual (Page 154)

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
7-14
[ d ] Execution when an Alarm Occurs
Undefined length of time
Alarm
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)