Halt Option Code (Obj. 605Dh)]; [Halt Option Code (Obj. 605Dh: 00H)] - Mitsubishi Electric MELSERVO-JET Series User Manual

9.5

[Halt option code (Obj. 605Dh)]

[Halt option code (Obj. 605Dh: 00h)]

Data Type Access
I16 RW
Description
Set how to decelerate the servo motor to a stop at Halt reception.
Setting Description
value

0
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 servo motor remains "Operation
Enabled".
During the profile torque mode (tq), [Torque demand value (Obj. 6074h)] becomes "0" stopping the servo motor in accordance with the
amount of torque change set in [Torque slope (Obj. 6087h)], and the state remains "Operation Enabled".
2 (not 
supported)
3 (not
supported)
4 (not
supported)
The following shows the case where Halt Bit (Bit 8 of [Controlword (Obj. 6040h)]) is set to "1" and "0", and the reflective timing
of the deceleration time setting in each control mode.
Control mode
Profile position mode
(pp)
Profile velocity mode
(pv)
Profile torque mode (tq)
Homing mode (hm)
9 PDS Control Objects
80
9.5 [Halt option code (Obj. 605Dh)]
Mapping Default
Impossible 1
Halt Bit is set to "1"
The servo motor decelerates to a stop in
accordance with [Profile deceleration (Obj.
6084h)].
The servo motor decelerates to a stop in
accordance with [Profile deceleration (Obj.
6084h)].
[Torque demand value (Obj. 6074h)]
becomes "0" stopping the servo motor in
accordance with the amount of torque
change set in [Torque slope (Obj. 6087h)].
When Halt Bit is set to "1", the servo motor decelerates to a stop with [Homing
acceleration (Obj. 609Ah)], and the status remains as "Operation Enabled (servo-on)".
Then, homing is restarted with the following procedure: (1) set Halt Bit to "0", (2) reset
Homing Operation Start (Bit 4 of [Controlword (Obj. 6040h)]) to "0", and (3) change
Homing Operation Start (Bit 4 of [Controlword (Obj. 6040h)]) to "1".
Range Units

1 (fixed)
Halt Bit is set to "0"
The operation resumes after decelerating
to a stop.
The operation resumes after decelerating
to a stop.
The operation resumes after [Torque
demand value (Obj. 6074h)] changes to
"0".
Save Parameter
Possible [Pr. PT68.2]
Reflective timing of
deceleration time setting
Reflected when New set-point (bit 4 of
[Controlword (Obj. 6040h)]) is set to
"1".
Reflected constantly.
Reflected constantly.
Reflected when "Homing Operation
Start" is set to "1".