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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 [Profile deceleration (Obj. 6084h)] or [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), point table mode (pt), JOG operation mode (jg),
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
6084h
VAR
609Ah
VAR
6074h
VAR
6087h
VAR
2801h to
4
VAR
*1
28FFh
*1 Available on servo amplifiers with firmware version B8 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 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
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)
Name
Halt option code
Profile deceleration
Homing acceleration
Torque demand value
Torque slope
Deceleration
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
Command torque (after limit)
Unit: 0.1 % (with rated torque being 100 %)
Torque variation
Unit: 0.1 %/s (with rated torque being 100 %)
Deceleration time constant of point table
Unit: acc units
3 BASIC FUNCTION
137
3.15 Halt
3
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