18．EtherCAT COMMUNICATION
18.5.7 Halt
When Halt Bit (Bit 8 of Controlword) is set to 1, the servo motor decelerates to a stop with the deceleration
time constant of Homing acceleration (609Ah), Profile deceleration (6084h) or the point table according to the
setting of Halt option code (605Dh). This function can be used in profile mode, homing mode (hm) and point
table method (pt/jg). Operation in other modes can be performed regardless of the Halt Bit status. When Halt
Bit is set to 0 at deceleration stop operation, the servo motor decelerates to a stop and returns to the
operable state. The following table shows the related object.
Setting for executing the Halt
function
Refer to table 5.3 for details.
The following table shows descriptions of Halt option code (605Dh). However, in the profile torque mode (tq),
Torque demand value (6074h) is set to 0 regardless of Halt option code (605Dh). The amount of torque
change at this time can be set using Torque slope (6087h).
Table 5.3 Halt option code
pp/pv/jg: The servo motor decelerates to a stop with Profile deceleration (6084h), and the state does not change
from Operation Enabled (servo-on).
hm: The servo motor decelerates to a stop with Homing acceleration (609Ah), and the state does not change
from Operation Enabled (servo-on).
pt: The servo motor decelerates to a stop with the deceleration time constant set in the point tables, and the state
does not change from Operation Enabled (servo-on).
The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change from the
Operation Enabled state (servo-on).
The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation
Enabled (servo-on).
The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation
Enabled (servo-on).
This is not supported by the driver.
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