6.3 Operating mode
117
Pause and reject MDI tasks
When using Message 9、111, the MDI task is rejected by STW1.4, and the servo decelerates
the ramp at maximum deceleration.
Control word Set up Describe
STW1.4
1 Do not refuse to perform tasks
0
Refuse to perform the task (perform slope
descent at maximum deceleration)
When Message 9 and 111 are applicable, the task is suspended through STW1.5, and the servo
decelerates the slope at the current set deceleration speed
When the task pause signal is cancelled, the task that is waiting for execution or being
suspended is resumed.
Control word Set up Describe
STW1.5
1 Do not suspend the task
0
The task is suspended by the set deceleration
MDI_DEC (Message9, 10, and 111) or P2693
(Message7)
3. Back to the reference point
When using Message 9 and 111, use the STW1.11 setting to start the operation back to the
reference point. There are three modes for returning to the reference point.
Control word Set up Describe
STW1.1
1 Start back to the reference point
0 Stop back to the reference point
Parameter Value Describe
Return to reference
point mode
0 REF back to reference point by external signal
1 (default)
Zero pulses back to the reference point
through an external reference block (signal
REF) and the encoder
2
Return to reference point through zero pulse
only
REF back to reference point by external signal (mode 0)
If Message 111 is used, set external input signal to POS_STW2.1 and REF(0->1) :
Control word Set up Describe
POS_STW2.1
1 Setting reference Points
0 No reference point is set
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