Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 204)

6.2 Motion Command Details
6.2.5 Interpolation Mode with Latch Input (LATCH)
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Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
* Latch signal: Phase-C pulse, /EXT1, /EXT2, or /EXT3 signal
[ b ] Execution when an Alarm Occurs
OW 08 = 6 (LATCH)
IW 08 = 6 (LATCH)
IW 09, bit 0 (BUSY)
Undefined length of time
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
1 scan
Latch signal *
IW 0C, bit 2 (LCOMP)
The target position is refreshed every high-speed scan.
This position is stored in IL 18.
IW 09, bit 8 (COMPLETE)
IW 0C, bit 1 (POSCOMP)
Alarm
Undefined length of time
IW 0C bit 1 (POSCOMP)
1 scan
OW 08 = 6 (LATCH)
IW 08 = 6 (LATCH)
IW 09 bit 0 (BUSY)
IW 09 bit 8 (COMPLETE)
IW 09 bit 3 (FAIL)
IW 0C bit 0 (DEN)