Halt; Ramp Stop - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

8. MANUFACTURER FUNCTIONS

8.11 Halt

When Halt Bit (Bit 8 of Controlword (CiA 402 standard)) is set to 1, the servo motor decelerates to a stop
with the deceleration time constant of Homing acceleration (P24730) or Profile deceleration (P24708)
according to the setting of Halt option code (P24669). This is available with the pp/pv/tq/hm modes.
When Halt Bit is set to 0 at deceleration stop operation, the servo motor decelerates to a stop and returns to
the operable state. The following table lists the related objects.
PNU Sub Access
24669 0 R/W Halt option code
The following table shows descriptions of Halt option code. However, in the tq mode, Torque demand value
(P24692) is set to 0 regardless of Halt option code. The amount of torque change at this time can be set
using Torque slope (P24711).
Setting
value
1 The motor decelerates to a stop according to Homing acceleration (P24730) and the state does not change from Operation
Enabled (servo-on) at Profile deceleration (P24708) or hm.
2 The servo motor decelerates to a stop with Quick stop deceleration (P24709). The state does not change from Operation
Enabled (servo-on). (Not compatible) (Note)
3 The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation Enabled
(servo-on). (Not compatible) (Note)
4 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation Enabled
(servo-on). (Not compatible) (Note)
Note. This is not supported by the MR-J4-_TM_ servo amplifier.

8.12 Ramp Stop

This decelerates the motor to a stop with the off command of Control word 1 (PROFIdrive standard) in the
Operation state. The deceleration to a stop is according to a deceleration time constant of Profile
deceleration (P24708).
PNU Sub Access
24708 0 R/W Profile deceleration
PNU Sub
24708 0 Refer to the text.
Name Type
Integer16
Table 8.11 Halt option code
Description
Name Data Type
Unsigned32
Range
8 - 14
Default
value
1 Setting for executing the Halt function
Refer to table 8.11 for details.
Description
Deceleration time constant
Units EEP-ROM
ms Possible
Description
Default
0
Parameter
PT50