IAI America XSEL-QX - Manual (Page 230)

206
Part 4 Commands
z HOLD (Hold: Declare axis port to pause)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional HOLD
(Input port,
global flag)
(HOLD type) CP
[Function] Declare an input port or global flag to pause while a servo command is being executed.
When operation is performed on the input port or global flag specified in operand 1, the
current servo processing will pause. (If the axes are moving, they will decelerate to a stop.)
If nothing is specified in operand 1, the current pause declaration will become invalid.
[HOLD type]
0 = Contact a (Deceleration stop)
1 = Contact b (Deceleration stop)
2 = Contact b (Deceleration stop
o Servo OFF (The drive source will not be cut off))
The HOLD type is set to “0” (contact a) when the program is started.
If nothing is specified in operand 2, the current HOLD type will be used.
Using other task to issue a servo ON command to any axis currently stopped via a HOLD
servo OFF will generate an “Error No. C66, Axis duplication error.” If the servo of that axis
was ON prior to the HOLD stop, the system will automatically turn on the servo when the
HOLD is cancelled. Therefore, do not issue a servo ON command to any axis currently
stopped via a HOLD servo OFF.
If any axis currently stopped via a HOLD servo OFF is moved by external force, etc., from
the stopped position, and when the servo of that axis was ON prior to the HOLD stop, the
axis will move to the original stopped position when the HOLD is cancelled before resuming
operation.
(Note 1) The input port or global flag specified by a HOLD declaration will only pause the axes used
in the task (program) in which the HOLD is declared. The declaration will not be valid on
axes used in different tasks (programs).
(Note 2) An input port or global flag to pause is valid for all active servo commands other than a
SVOF command. (A deceleration stop will also be triggered in J
W and PATH
operation.)
[Example] HOLD 15 0 The axes will decelerate to a stop when input port 15
turns ON.
Input port 15 ON Movement is complete.
Remaining operation
V
T
HOLD
Input port 15 OFF