YASKAWA S-V Series User Manual page 127

Serial Command
Positioning Interruption
Interrupts the current positioning.
The remainder of the positioning is put on hold.
When the HOLD command has interrupted a positioning initiated by an ST, STnnnnnnnn,
STAnnnnnnnn, or STInnnnnnnn command, the positioning can be restarted by executing the ST
command.
When the HOLD command has interrupted registration positioning initiated by an RS,
RSnnnnnnnn, RSAnnnnnnnn, or RSInnnnnnnn command, the registration positioning can be
restarted by executing the RS command.
When the HOLD command has interrupted a "forward jogging with registration" operation that
was initiated by the RJOGPnnnnnnnn command, the operation can be restarted by executing the
RJOGPnnnnnnnn command again.
When the HOLD command has interrupted a "reverse jogging with registration" operation that
was initiated by the RJOGNnnnnnnnn command, the operation can be restarted by executing the
RJOGNnnnnnnnn command again.
When the HOLD command has interrupted a homing initiated by the ZRN command, homing
can be restarted by executing the ZRN command.
When the HOLD command is executed during a JOG forward operation initiated by
JOGPnnnnnnnn or a JOG reverse operation initiated by JOGNnnnnnnnn, the JOG operation
will be stopped.
HOLD
When the HOLD command is executed after positioning is completed, a remaining distance of
zero is put on hold.
If a new target position is specified while a positioning has been put on hold by the HOLD com-
mand, the remaining distance is canceled and the new target position is used instead.
Control Commands (cont'd)
Function/Description
SPDx
Speed
POSIy
ST
x
(y )
1
0
(y +y = y)
1 2
Speed
SPDx
POSIy
ST
x
(y)
0
Speed
SPDx
HOLD
POSIy
ST
x
(y )
1
HOLD ST
(y )
2
Remaining dis-
tance put on hold
HOLD
ST
ST
(y)
POSIz
ST
(z)
Remaining
distance
cancelled
7.7 Serial Commands
Positive
Response
OK
t
t
t
7
7-19