IAI America S-SEL-E - Manual (Page 129)

Page 124
Chapter 4. Programming
Input 25 ON
HOLD
t
Input 25 OFF
V
Motion
Completed
Remaining
motion
[Function] Designates an input port for sending a command to decelerate and stop while a move command is being
executed. If the designated input port turns ON, then velocity decreases until all motion stops. When the
input port turns OFF, then motion begins again. The HOLD command applies only to the axes in the desig-
nated task (program), and does not affect axes running in other programs.
[Example] HOLD 25
When input port 25 turns ON, velocity decreases until all motion stops.
HOLD (Hold : Axis Temporary Stop)
* When the HOLD function is used during a PATH motion command, the actuator stops at the next position.
During the execution of straight line motion commands such as MOVL, MOVP, and circular/arc motion
commands such as CIR, ARC, it stops immediately.
* The IA system uses a unique homing sequence which locks the servo and detects the stroke edge during
homing. If the HOLD is activated at the end of homing, this might cause a "servo run-away = alarm" after
the HOLD is released. Therefore, HOLD should be designated after the HOME command. If you need to
designate HOLD from the beginning, a home area detection switch (an area limit switch) must be installed
so that the HOLD designation will not be carried out in this area.
* HOLD and CANC cannot be used in the same program. (If both are written in the same program, the
command that is designated later is the one that becomes effective).
E x p a n s i o n
c o n d i t i o n
( A N D · O R )
I n p u t
c o n d i t i o n
( I / O · F l a g )
C o m m a n d
P o s t
( O u t p u t p o r t · F l a g )
C o m m a n d O p e r a n d 1 O p e r a n d 2
O p t i o n a l O p t i o n a l H O L D I n p u t p o r t