Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 249)

6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
6-88
[ c ] Command Hold
[ d ] Execution when an Alarm Occurs
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
1scan
OW 09, bit0 (HOLD)
IW 09, bit 1 (HOLDL)
Torque Control Mode Position Control Mode
Alarm
IW 0C, bit 1 (POSCOMP)
1 scan
Torque Control Mode Position Control Mode
Undefined length of time
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)