Yaskawa JAPMC-MC2300 - Manual (Page 210)

7.2 Motion Command Details
7.2.7 STEP Operation (STEP)
7-70
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
Undefined length of time 1 scan
OW 09, bit 1 (ABORT)
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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
Alarm
1 scan
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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)