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4.2 Main Commands
74
4.2.18 Stop Motion (HOLD: 25H)
Related Parameters
Byte
HOLD
Description
Command
Response
1
25H
25H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Asynchronous
2
−
ALARM
Processing time
Within commu-
nications cycle
Subcommand
Can be used
3
OPTION
STATUS
• Stops the servomotor for positioning according to the stop method set in
HOLD_MOD.
• From current motion status, performs a deceleration stop and position-
ing according to the deceleration speed set in the parameters.
• The stop method can be selected using HOLD_MOD.
0: Decelerate to a stop according to the deceleration parameter.
1: Stop immediately (output stop).
• Can be used during phases 2 and 3.
• OPTION field cannot be used. Set all bits to 0.
• Use DEN (output complete) to confirm position data output completion.
• Latch processing, which is dependent on LATCH, EX_POSING will be
cancelled.
• ZRET latch processing and ZRET home position alignment will be can-
celled.
• Upon completion of this command, the reference position (POS) must
be read, and the controller coordinate system must be set up.
• The modal latch mode set by LTMOD_ON command stays effective.
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 sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Parameter No.
Description
Pn80E
Linear Deceleration Parameter
TOEP_C710806_03A_1_0.book Seite 74 Montag, 2. Juli 2007 3:55 15