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3.15
Halt
Halt defined in CiA 402 enables temporary stop of the servo motor.
When 1 is set in Bit 8 (HALT) of [Controlword (Obj. 6040h)], the servo motor decelerates to a stop with the deceleration time
constant of [Homing acceleration (Obj. 609Ah)], and then the state remains as "Operation Enable" (Servo-on), in accordance
with the setting of [Halt option code (Obj. 605Dh)]. When Halt Bit is set to 0 at deceleration stop operation, the servo motor
decelerates to a stop and returns to the operable state.
• This function can be used in the homing mode (hm). The other control modes can be operated regardless of
the Halt Bit status.
Objects for setting
Index
Sub
Object
605Dh
VAR
609Ah
VAR
*1 The initial value varies depending on the unit.
The following table shows descriptions of [Halt option code (Obj. 605Dh)].
Setting value
Description
1
During the homing mode (hm), the servo motor decelerates to a stop in accordance with [Homing acceleration (Obj. 609Ah)] and the
status remains as "Operation Enabled (servo-on)".
2
After deceleration to a stop in accordance with [Quick stop deceleration (Obj. 6085h)], the state remains as "Operation Enabled". (Servo-
(Not supported)
on is maintained.)
3
After deceleration to a stop by limiting the current, the state remains as "Operation Enabled". (Servo-on is maintained.)
*1
(Not supported)
4
After deceleration to a stop by limiting the voltage, the state remains as "Operation Enabled". (Servo-on is maintained.)
*1
(Not supported)
*1 Not supported.
Timing chart
Servo motor speed
Halt Controlword
(6040h) Bit 8
Name
Data
Type
Halt option code
I16
Homing acceleration
U32
Deceleration time
set with Halt option
code
Access
Default
Description
rw
1
Setting for executing the Halt function
Refer to the following table for the definition.
*1
rw
Acceleration/deceleration time constant at homing (acc
units)
t
t
3 BASIC FUNCTION
79
3.15 Halt
3
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