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 DRV.STOP:
| Cmdsource | Opmode | Subopmode | Deceleration ramp defined by: |
|---|---|---|---|
| Service | Torque | - | IL.CMD = 0 |
| Velocity | - | If SM.DEC is equal to 0, DRV.DEC is used. Otherwise, SM.DEC is used. | |
| Position | Service motion | If SM.DEC is equal to 0, DRV.DEC is used. Otherwise, SM.DEC is used. | |
| Motion tasking | MT.DEC | ||
| Homing | HOME.DEC | ||
| Fieldbus | Torque | - | Command has no effect. |
| Velocity | |||
| Position | |||
| Electronic Gearing | Position | - | GEAR.DECMAX |
| Analog | Torque | - | Command has no effect. |
| Velocity | |||
| Position |
General Information
|
Type |
Command |
|
Units |
N/A |
|
Range |
N/A |
|
Default Value |
N/A |
|
Data Type |
N/A |
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
|
35FEh/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2137 |
Command* | No |
| Sercos® III |
*For PROFINET, write a value of 0 into the PNU to execute a command.
| Instance | Data Size | Data Type |
|---|---|---|
| 138 | Command | None |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
274 |
No | Command | No | M_01-03-00-000 |
