4.2 Main Commands
74
4.2.18 Stop Motion (HOLD: 25H)
Related Parameters
Byte HOLD Description
Command Response
1 25H 25H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Asynchronous
2 − ALARM
Processing time Within commu-
nications cycle
Subcommand Can be used
3 OPTION STATUS • Stops the servomotor for positioning according to the stop method set in
HOLD_MOD.
• From current motion status, performs a deceleration stop and position-
ing according to the deceleration speed set in the parameters.
• The stop method can be selected using HOLD_MOD.
0: Decelerate to a stop according to the deceleration parameter.
1: Stop immediately (output stop).
• Can be used during phases 2 and 3.
• OPTION field cannot be used. Set all bits to 0.
• Use DEN (output complete) to confirm position data output completion.
• Latch processing, which is dependent on LATCH, EX_POSING will be
cancelled.
• ZRET latch processing and ZRET home position alignment will be can-
celled.
• Upon completion of this command, the reference position (POS) must
be read, and the controller coordinate system must be set up.
• The modal latch mode set by LTMOD_ON command stays effective.
4
5HOLD_
MOD
MONITOR1
6 −
7
8
9 MONITOR2
10
11
12
13 SEL_MON
1/2
SEL_MON
1/2
14 − IO_MON
15
16 WDT RWDT
17 For sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Parameter No. Description
Pn80E Linear Deceleration Parameter
TOEP_C710806_03A_1_0.book Seite 74 Montag, 2. Juli 2007 3:55 15
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