Halt - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.7 Halt

When Halt Bit (Bit 8 of Controlword) is set to 1, the servo motor decelerates to a stop with the deceleration
time constant of Homing acceleration (609Ah), Profile deceleration (6084h) or the point table according to
the setting of Halt option code (605Dh). This function can be used in profile mode, homing mode (hm) and
point table method (pt/jg). Operation in other modes can be performed regardless of the Halt Bit status.
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 shows the related object.
Index Sub Object
605Dh VAR
The following table shows descriptions of Halt option code (605Dh). However, in the profile torque mode (tq),
Torque demand value (6074h) is set to 0 regardless of Halt option code (605Dh). The amount of torque
change at this time can be set using Torque slope (6087h).
Setting value
pp/pv/jg: The servo motor decelerates to a stop with Profile deceleration (6084h), and the state does not change
from Operation Enabled (servo-on).
hm: The servo motor decelerates to a stop with Homing acceleration (609Ah), and the state does not change from
1
Operation Enabled (servo-on).
pt: The servo motor decelerates to a stop with the deceleration time constant set in the point tables, and the state
does not change from Operation Enabled (servo-on).
2 The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change from the
(Not supported) Operation Enabled state (servo-on).
(Note)
3 The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation
(Not supported) Enabled (servo-on).
(Note)
4 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation
(Not supported) Enabled (servo-on).
(Note)
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
Data
Name
Type
Halt option code I16
Table 5.3 Halt option code
5 - 83
Access Default
Setting for executing the Halt
function
rw 1
Refer to table 5.3 for details.
Description
Description