Omron trajexia CJ1W-MCH72 Operation Manual page 167

All BASIC commands
4-2-109 FHOLD_IN
4-2-110 FHSPEED
156
/i
Type Axis parameter
Syntax FHOLD_IN
FH_IN
Description The FHOLD_IN axis parameter contains the input number to be used as
the feedhold input. The valid input range is 0 to 31. Values 0 to 15 repre-
sent physically present inputs of CJ1W-MCH72 I/O connector and are
common for all axes.
Values 16 to 31 are mapped directly to driver inputs that are present on
the CN1 connector. They are unique for each axis. It depends on the
type of Servo Driver which Servo Driver inputs are mapped into inputs
16 to 31. For more information on Servo Driver I/O mapping into the
Trajexia I/O space, refer to section 5-1-4.
As default the parameter is set to -1, no input is used for feedhold.
Note: This input is active low.
If an input number is set and the feedhold input turns set, the speed of
the move on the axis is changed to the value set in the FHSPEED axis
parameter. The current move is not cancelled. Furthermore, bit 7 of the
AXISSTATUS parameter is set. When the input turns reset again, any
move in progress when the input was set will return to the programmed
speed.
Note: This feature only works on speed controlled moves. Moves which
are not speed controlled (CAMBOX, CONNECT and MOVELINK) are
not affected.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, FHSPEED, UNITS.
/i
Type Axis parameter
Syntax FHSPEED
Description The FHSPEED axis parameter contains the feedhold speed. This
parameter can be set to a value in user units/s and defines at which
speed the axis will move when the feedhold input turns on. The current
move is not cancelled. FHSPEED can have any positive value including
0. The default value is 0. This default value is applicable to most appli-
cations as motion is usually ramped down to zero speed when the free-
hold input is set. In some cases it may be desirable for the axis to ramp
to a known constant speed when the freehold input is set.
Note: This feature only works on speed controlled moves. Moves which
are not speed controlled (CAMBOX, CONNECT and MOVELINK) are
not affected.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, FHOLD_IN, UNITS.
Section 4-2