4.3 Main Commands
4-25
4
4.3.18 Stop Motion (HOLD: 25H)
Related Parameters
Byte HOLD Description
Command Response
1 25H 25H Processing
classifications
Motion command
group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Within communi-
cations cycle
Subcommand Can be used.
3OPTIONSTATUS• From current motion status, performs a deceleration stop and positioning
according to the deceleration value set in the parameters.
• Can be used during phases 2 and 3.
• During phase 1, a MECHATROLINK-II command warning (A.95) will occur
and the command will be ignored.
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications: OPTION
for details.
• Use DEN (output complete) to confirm the completion of motion processing.
• Latch processing, which is dependent on LATCH, EX_POSING, and SVC-
TRL will be cancelled.
• ZRET latch processing and ZRET zero point alignment will be cancelled.
• Upon completion of this command, the reference position (POS) must be read,
and the controller coordinate system must be set up.
• The stop method can be selected using HOLD_MOD.
0: Decelerate to a stop according to the deceleration parameter.
1: Stop immediately (output stop).
4
5 HOLD_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
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn80D First-step Linear Deceleration Parameter
Pn80E Second-step Linear Deceleration Parameter
Pn80F Deceleration Parameter Switching Speed
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