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INTELLIGENT ACTUATOR
Part 4 Commands
HOLD (Hold: Declare axis port to pause)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional HOLD
(Input port,
global flag)
(HOLD
type)
CP
[Function] Declare an input port or global flag to pause while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will pause. (If the axes are moving, they will decelerate to a stop.)
If nothing is specified in operand 1, the current pause declaration will become invalid.
A HOLD type can be specified in operand 2.
[HOLD type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
2 = Contact b (Deceleration stop Servo OFF (The drive source will not be cut off))
The HOLD type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current HOLD type will be used.
Using other task to issue a servo ON command to any axis currently stopped via a HOLD
servo OFF will generate an “Error No. C66, Axis duplication error.” If the servo of that axis
was ON prior to the HOLD stop, the system will automatically turn on the servo when the
HOLD is cancelled. Therefore, do not issue a servo ON command to any axis currently
stopped via a HOLD servo OFF.
If any axis currently stopped via a HOLD servo OFF is moved by external force, etc., from the
stopped position, and when the servo of that axis was ON prior to the HOLD stop, the axis
will move to the original stopped position when the HOLD is cancelled before resuming
operation.
(Note 1) The input port or global flag specified by a HOLD declaration will only pause the axes used in
the task (program) in which the HOLD is declared. The declaration will not be valid on axes
used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other than a SVOF
command. (A deceleration stop will also be triggered in JW and PATH operations.)
(Note 3) Following a pause of home return, the operation will resume from the beginning of the home-
return sequence.
[Example] HOLD 15 0 The axes will decelerate to a stop when input port 15 turns ON.
Input port 15 ON
Movement is complete.
Remaining operation
V
T
HOLD
Input port 15 OFF
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