Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 212)

6.2 Motion Command Details
6.2.7 Relative Position Mode (STEP) (Step Mode)
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Motion Commands
[ b ] Execution when Aborted
[ c ] Execution when Aborting by Changing the Command
[ d ] Execution when an Alarm Occurs
Undefined length of time 1 scan
OW 09, bit 1 (ABORT)
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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 1 scan
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
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 = 8 (STEP)
IW 08 = 8 (STEP)
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)