Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 171)

6.2 Motion Command Details
6.2.1 Position Mode (POSING) (Positioning)
6-10
[ e ] Execution when an Alarm Occurs
Undefined length of time
Alarm
1 scan
OW 08 = 1 (POSING)
IW 08 = 1 (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)