Supplementary Information On Cmd_Pause And Cmd_Cancel - YASKAWA S-7 Series Command Manual

2.5 Command Header Section

2.5.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL

2.5.3 Supplementary Information on CMD_PAUSE and CMD_-
CANCEL
CMD_PAUSE (Pausing a Command Operation)
• CMD_PAUSE is used to pause motion command operation. (Motion command processing
continues. Motion command operation can be resumed by clearing CMD_PAUSE.)
• CMD_PAUSE is valid only when the POSING, FEED, EX_FEED, EX_POSING, ZRET or
VELCTRL command is specified.
 Pausing Procedure
1.
The master station sets "1" for STOP_MODE and CMD_PAUSE and transmits one of the
motion commands given above.
2.
The slave station stops in accordance with STOP_MODE. When deceleration to a stop is
specified, the slave station decelerates its motion at the deceleration specified in DECR
of the command.
3.
"1" is set for CMD_PAUSE_CMP at the slave station when CMD_PAUSE and ZSPD
become "1."
Even after stopping, the slave station maintains the previous control mode and DEN
remains at "0" (in the position control mode).
Note
 Example of Pausing the POSING Command
CMD_PAUSE
CMD_PAUSE_CMP
DEN
PSET
ZSPD
2-18
• CMD_PAUSE is disregarded for commands for which CMD_PAUSE is not valid, and
CMD_PAUSE_CMP remains OFF.
• When using CMD_PAUSE, execute the relevant motion command continuously until
CMD_PAUSE_CMP becomes "1."
• By setting "0" for CMD_PAUSE, the pausing operation is canceled and the motion command
operation is resumed.
Communication cycle
CMD
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
POSING