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7. OBJECT LIBRARY
7.4.3 Halt option code (605Dh)
(1) Object list
The following table shows descriptions of Halt option code (605Dh).
Setting
value
The description varies depending on the control mode.
1
Refer to the following table.
2
For manufacturer setting
3
4
The following shows the meaning of Halt Bit (Bit 8 of Controlword (6040h)) and the reflecting timing of
the deceleration time setting.
Control mode
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Sub
Index
Index
605Dh
0
Halt option code (Halt option code)
Halt Bit is set to "1"
The servo motor decelerates
to a stop according to Profile
deceleration (6084h).
The servo motor decelerates
to a stop according to Profile
deceleration (6084h).
Torque demand value
(6074h) becomes "0" with the
amount of torque change set
in Torque slope (6087h)
regardless of the setting 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 state does not
change from Operation Enabled (servo-on). After that, when
Halt Bit is set to "0" and Homing Operation Start (Bit 4 of
Controlword (6040h)) is set to "0" and then "1", home position
return is performed again.
Name
Description
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".
7 - 36
Data
type
2 bytes
Reflecting 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 new setting 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".
Read/
write
Read/
write
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