AXIS#.STOP

Description

This command stops drive motion. In torque and velocity modes, the command value will immediately be set to 0. In position mode, the axis will decelerate to a full stop. If the position command is from a gearing master, the drive will cancel gearing and decelerate to a stop. This command has no effect if the command source is an analog input.

If the command values are coming from a fieldbus master, the stop may be immediately overwritten by a new fieldbus command. Use a controlled stop input or disable command to ensure a stop.

The following table defines the behavior of AXIS#.STOP:

Cmdsource Opmode Subopmode Deceleration ramp defined by:
Service Torque - AXIS#.IL.CMD = 0
Velocity - AXIS#.SM.DEC and AXIS#.SM.DEC 
Position Service motion AXIS#.SM.DEC and AXIS#.SM.DEC 
Motion tasking AXIS#.MT.DEC
Homing AXIS#.HOME.DEC
Fieldbus Torque - Command has no effect.
Velocity
Position
Electronic Gearing Position - AXIS#.GEAR.DECMAX
Analog Torque - Command has no effect.
Velocity
Position

Versions

Action Version Notes
Implemented 02-00-00-000
     

General Information

Type

Command

Units

N/A

Range

N/A

Default Value

N/A

Data Type

N/A

Stored in Non Volatile Memory

No

Variants Supported

All variants are supported

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen AXIS1.STOP 0x5000 0xD UDINT - - wo False
AXIS2.STOP 0x5100 0xD UDINT - - wo False