Yaskawa Sigma II Indexer - Manual (Page 114)

Sigma II Indexer User’s Manual Registration
5-59
If the reserved registration distance (RDST) is too small compared to the distance it
takes for the motor to decelerate to the reserved registration speed (RSPD), alarm
E23E occurs. The motor does not stop at the reserved registration distance.
A second /RGRT is ignored, while positioning to the reserved registration distance.
When /RGRT becomes Active during motor deceleration and /START-STOP
becomes Active later, registration starts.
second registration input is ignored
registration target position