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10.5
[Halt option code (Obj. 605Dh)]
[Halt option code (Obj. 605Dh: 00h)]
Data Type
Access
I16
RW
Supported firmware version
ECT
A5
Description
Set how to decelerate the servo motor to a stop at Halt reception.
Setting value
Description
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 JOG operation mode (jg), in accordance with the point table deceleration time constant/point table deceleration during the
point table mode (pt), 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
Halt Bit is set to "1"
Profile position mode
The servo motor decelerates to a stop in
(pp)
accordance with [Profile deceleration (Obj.
6084h)].
Profile velocity mode
The servo motor decelerates to a stop in
(pv)
accordance with [Profile deceleration (Obj.
6084h)].
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)].
Point table mode (pt)
The servo motor decelerates to a stop in
accordance with the point table
deceleration time constant/point table
deceleration.
JOG operation mode (jg)
The servo motor decelerates to a stop in
accordance with [Profile deceleration (Obj.
6084h)].
Homing mode (hm)
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".
Mapping
Default
Impossible
1
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".
The operation resumes after decelerating
to a stop.
The operation resumes after decelerating
to a stop.
Range
Units
1 (fixed)
10.5 [Halt option code (Obj. 605Dh)]
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 New set-point (bit 4 of
[Controlword (Obj. 6040h)]) is set to
"1".
In the continuous operation, reflected
when it is switched to next point table.
Reflected when Rotation start (bit 4 of
[Controlword (Obj. 6040h)]) is set to
"1".
Reflected when "Homing Operation
Start" is set to "1".
10 PDS Control Objects
11
149
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