Yaskawa JAPMC-MC2300 - Manual (Page 220)

7.2 Motion Command Details
7.2.10 Torque Reference (TRQ)
7-80
[ b ] Execution when Aborted
[ c ] Command Hold
[ d ] Execution when an Alarm Occurs
IW 0C, bit 1 (POSCOMP)
1 scan
OW 09, bit 1 (ABORT)
Torque control mode Position control mode
Speed control
mode
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 0 (DEN)
1 scan
OW 09, bit 0 (HOLD)
Torque control mode Position control mode
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 1 (HOLDL)
IW 09, bit 8 (COMPLETE)
Speed control
mode
Alarm
IW 0C, bit 1 (POSCOMP)
1 scan
Torque control mode Position control mode
Speed control
mode
Undefined length of time
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)