Rockwell Automation 1746-HSTP1 Stepper Controller Module/ User Manual - Manual (Page 48)

Publication 999-121 - December 1999
Configuration and Programming 5-13
Hold move command: causes a controlled deceleration to the
starting speed and stop. Upon completion of the hold stop, the hold
state input (bit 2, word 0) of the command mode input word image
table is set. While the hold move is in effect, velocity and acceleration
or deceleration parameters can be changed. Specifying a new
position, however, has no effect. If no error occurs during a hold
move operation, the interrupted move can be resumed, with new
velocity and acceleration or deceleration parameters, upon receipt of
a resume move command.
Resume move command: permits a previously held absolute or
relative move to continue from the point of the hold. An interrupted
blend move cannot be continued by a resume move command,
however. The hold state input flag turns off when the resume move
command has been acted upon.
A move can be held and then resumed a number of times, until one of
the following occurs:
• The axis reaches its target position.
• An error condition occurs.
• Some other command is issued.
Immediate stop (pulse train off) command: brings a current move
operation to a stop, without deceleration ramp. Bit 4 of command
mode input word 0 is set. The position invalid bit (bit 10) also sets, if
the axis was moving at the time the immediate stop command is
issued.
Find home
+ / (CW) and Find home – / (CCW) commands.
The way in which these commands are executed is dependent on
whether or not a home proximity limit switch is present (as selected in
the configuration output image table). When a find home command is
issued with a home proximity limit switch present, the axis accelerates
to the programmed velocity and runs at that speed until the home
proximity switch is detected. The axis then decelerates to the starting
IMPORTANT
If a hold move command is issued during a blend
move operation, the Module runs the blend move
profile to completion, and then set the “command
error” bit (word 0, bit 12) in the command mode
input image table. Hold does not stop a Jog move.
IMPORTANT
It is possible to perform a Relative Move after an
Immediate Interrupt has occurred. However, you can
not resume an absolute move.