Yaskawa MP2200 Machine Controller - Manual (Page 285)

5.2 Motion Command Details
5-55
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
Undefined length of time 1 scan
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C5 (ZRNC)
Undefined length of time
Alarm
1 scan
OW 08 = 3 (ZRET)
IW 08 = 3 (ZRET)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C5 (ZRNC)