DRV STOP

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DRV.STOP

General Information
Type	Command
Description	This command stops all drive motion.
Units	N/A
Range	N/A
Default Value	N/A
Data Type	N/A
Start Version	M_01-00-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	35FEh/0	M_01-00-00-000

*For Profinet, write a value of 0 into the PNU to execute a command.

Description

This command stops drive motion. In torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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	TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist	-	IL"Instruction list" This is a low-level language and resembles assembly.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
		HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position	HOME.DEC
Fieldbus	Torque	-	Command has no effect.
	Velocity
	Position
Electronic Gearing	Position	-	GEAR.DECMAX
Analog	Torque	-	Command has no effect.
	Velocity
	Position

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