Stop Motion (Hold: 25H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4.3.18

Stop Motion (HOLD: 25H)

Byte HOLD
Command
1 25H
2
3 OPTION
4
5 HOLD_MOD
6
7
8
9
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14
15
16 WDT
17 For For
subcommands subcommands
18
use. Refer to use. Refer to
19
4.4 Subcom- 4.4 Subcom-
mands. mands.
20
21
22
23
24
25
26
27
28
29
Related Parameters
Pn80D
Pn80E
Pn80F
Response
25H Processing
classifications
ALARM Processing time
STATUS • From current motion status, performs a deceleration stop and positioning
according to the deceleration value set in the parameters.
• Can be used during phases 2 and 3.
MONITOR1
• During phase 1, a MECHATROLINK-II command warning (A.95) will occur
and the command will be ignored.
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications: OPTION
for details.
• Use DEN (output complete) to confirm the completion of motion processing.
MONITOR2
• Latch processing, which is dependent on LATCH, EX_POSING, and SVC-
TRL will be cancelled.
• ZRET latch processing and ZRET zero point alignment will be cancelled.
• Upon completion of this command, the reference position (POS) must be read,
and the controller coordinate system must be set up.
• The stop method can be selected using HOLD_MOD.
0: Decelerate to a stop according to the deceleration parameter.
IO_MON
1: Stop immediately (output stop).
RWDT
Pn No.
First-step Linear Deceleration Parameter
Second-step Linear Deceleration Parameter
Deceleration Parameter Switching Speed
4-25
Description
Motion command Synchronization
group classifications
Within communi- Subcommand
cations cycle
Description
4.3 Main Commands
Asynchronous
Can be used.
4