Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 155)

6 MECHATROLINK II Communications
6.3.18 Stop Motion (HOLD: 25H)
6-24
6.3.18 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
3 OPTION STATUS • 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, Command warning 1 (A.95A) will occur and the command
will be ignored.
• OPTION can be used. Refer to 6.5.2 Option Field Specifications: OPTION for
details.
• Use DEN (output complete) to confirm stop completion.
• Latch processing, which is dependent on LATCH, EX_POSING, and
SVCTRL will be cancelled.
• ZRET latch processing and ZRET home position 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.
Refer to 6.4
Subcommands. For
subcommands.
Refer to 6.4
Subcommands.
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