Halt; Objects For Setting; Timing Chart - Mitsubishi Electric Melservo-Jet MR-JET-G Series User Manual

3.16

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 during the deceleration stop operation, the servo
motor decelerates to a stop and returns to the operable state.
• This function can be used in the profile mode (pp/pv/tq) and homing mode (hm). The other control modes
can be operated regardless of the Halt Bit status.
• In the profile torque mode (tq), [Torque demand value (Obj. 6074h)] is set to 0 regardless of [Halt option
code (Obj. 605Dh)]. The amount of torque change at this time can be set using [Torque slope (Obj. 6087h)].

Objects for setting

For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub Object
605Dh  VAR
*1

6084h VAR
609Ah  VAR
*1 Available on servo amplifiers with firmware version B2 or later.
The following table shows descriptions of [Halt option code (Obj. 605Dh)].
Setting value Description
1 The servo motor decelerates to a stop in accordance with [Profile deceleration (Obj. 6084h)] during the profile positioning/velocity mode
(pp/pv) and in accordance with [Homing acceleration (Obj. 609Ah)] during the homing mode (hm), 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.)
(not supported)
4 After deceleration to a stop by limiting the voltage, the state remains as "Operation Enabled". (Servo-on is maintained.)
(not supported)

Timing chart

Servo motor speed
HALT
([Controlword
(Obj. 6040h)] bit 8)
Name
Halt option code
Profile deceleration
Homing acceleration
Deceleration time
set with Halt option
code
Description
Setting for executing the Halt function
Refer to the following table for the description.
Deceleration at arrival to target position
Unit: acc units
Acceleration/deceleration time constant at homing
Unit: acc units
t
t
3 BASIC FUNCTION
105
3.16 Halt
3