Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 176)

6.2 Motion Command Details
6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)
6-15
Motion Commands
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
Undefined length of time 1 scan
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_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)
Undefined length of time
Alarm
1 scan
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_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)