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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-7 Applied Function Objects
9
9-7-3 3B20 hex: Stop Selection
• Selects the stop method when bit 8 (Halt) in Controlword is set to 1, under the condition that the
Modes of operation is set to the Profile position mode (pp), Profile velocity mode (pv), or Homing
mode (hm).
• When the running motor decelerates and its speed reaches 30 r/min or lower, the operation changes
from the deceleration operation to the operation after stopping.
• The following error is cleared for all set values after the Servomotor stops.
• Mirror object of 605D hex
Description of Set Values
Subindex 03 hex: Halt Option Code
Set
value
Deceleration operation
Operation after stopping the
deceleration operation
1 Deceleration stop at a speed which is
used in the selected operation mode
pp, pv: Profile deceleration
hm: Homing acceleration
pp, hm: Internal position com-
mand is zero
pv: Internal velocity command
is zero
2 Not supported
---
3 Deceleration stop (The deceleration stop
torque is used.)
pp, hm: Internal position com-
mand is zero
pv: Internal velocity command
is zero
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