SMC Networks LECSN-T Series - 19.5.7 Halt

19 - 77
19．EtherNet/IP COMMUNICATION
19.5.7 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 (Class ID: 64h, Ins ID: 609Ah, Attr ID: 0) or Profile deceleration (Class
ID: 64h, Ins ID: 6084h, Attr ID: 0) according to the setting of Halt option code (Class ID: 64h, Ins ID: 605Dh,
Attr ID: 0). The halt function can be used in the profile mode (pp/pv/tq) and homing mode (hm). 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.
Class ID
Ins ID
Attr
ID
Acces
s
Name
Data
Typ
e
Default
Description
64h
605Dh
0
Get/S
et
Halt option code
INT
1
Setting for executing the Halt
function
Refer to table 5.3 for details.
The following table shows descriptions of Halt option code (Class ID: 64h, Ins ID: 605Dh, Attr ID: 0).
However, in the profile torque mode (tq), Torque demand value (Class ID: 64h, Ins ID: 6074h, Attr ID: 0) is
set to 0 regardless of Halt option code (Class ID: 64h, Ins ID: 605Dh, Attr ID: 0). The amount of torque
change at this time can be set using Torque slope (Class ID: 64h, Ins ID: 6087h, Attr ID: 0).
Table 5.3 Halt option code
Setting
value
Description
1
For Profile deceleration (Class ID: 64h, Ins ID: 6084h, Attr ID: 0) and the homing mode (hm), the servo motor
decelerates to a stop according to Homing acceleration (Class ID: 64h, Ins ID: 609Ah, Attr ID: 0) and the state
does not change from the Operation Enabled state (servo-on).
2
(Not
supported)
(Note)
The servo motor decelerates to a stop with Quick stop deceleration (Class ID: 64h, Ins ID: 6085h, Attr ID: 0). The
state does not change from the Operation Enabled state (servo-on).
3
(Not
supported)
(Note)
The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation
Enabled (servo-on).
4
(Not
supported)
(Note)
The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation
Enabled (servo-on).
No
te.
This is not supported by the driver.