Mitsubishi Electric MR-JE-C Series Instruction Manual page 135

7. OBJECT DICTIONARY
The following shows the case where Halt Bit (Bit 8 of Controlword (6040h)) is set to "1" and "0", and the
reflective timing of the deceleration time setting in each control mode.
Control mode
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Point table mode (pt)
Indexer mode (idx)
Jog mode (jg)
Halt Bit is set to "1"
The servo motor decelerates
to a stop in accordance with
Profile deceleration (6084h).
The servo motor decelerates
to a stop in accordance with
Profile deceleration (6084h).
Torque demand value
(6074h) becomes "0" with the
amount of torque change set
in Torque slope (6087h)
regardless of Halt option code
(605Dh).
When Halt Bit is set to "1", the servo motor decelerates to a
stop with Homing acceleration (609Ah) and the status remain
as Operation Enabled (servo-on). Then, home position return is
restarted with the following procedure: (1) set Halt Bit to "0", (2)
reset Homing Operation Start (Bit 4 of Controlword (6040h)) to
"0", and (3) change Homing Operation Start (Bit 4 of
Controlword (6040h)) to "1".
The servo motor decelerates
to a stop in accordance with
the deceleration time constant
set in Point table 001 to Point
table 255 (2801h to 28FFh).
Halt Bit is disabled in the indexer mode.
The servo motor decelerates
to a stop in accordance with
Profile deceleration (6084h).
Halt Bit is set to "0"
The operation restarts after the
servo motor decelerates to a
stop.
The operation restarts after the
servo motor decelerates to a
stop.
The operation restarts after
Torque demand value (6074h)
becomes "0".
The operation restarts
immediately.
The operation restarts
immediately.
7 - 56
Reflective timing of deceleration time
setting
The new setting of Profile
deceleration (6084h) is reflected
when New set-point (Bit 4 of
Controlword (6040h)) is set to "1".
The change of Profile deceleration
(6084h) is reflected at all times.
The new setting of Torque slope
(6087h) is reflected at all times.
The new setting of Homing
acceleration (609Ah) is reflected
when Homing Operation Start (Bit 4 of
Controlword (6040h)) is set to "1".
The new setting is reflected when the
next operation starts.
The new setting of Profile
deceleration (6084h) is reflected
when New set-point (Bit 4 of
Controlword (6040h)) is set to "1".