0x620 - Halt option code
Address | Name | Data Type | Access | Cyclic access | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|
0x620 | Halt option code | INT16 | RW | No | Yes | 0 - 2 | 0 | - |
This parameter indicates the reaction of the halt when it is triggered.
Value | Action |
|---|---|
0 | None |
1 | Slow down ramp |
2 | Quick stop ramp |
Note
Slow down ramp uses deceleration defined in the profiler configuration, while Quick stop ramp uses the Quick stop deceleration.
Warning
This parameter cannot be changed while the power stage is enabled
When using slow down ramp or quick stop ramp option codes, it is important to have the velocity loop operative and properly configured. In the option codes that also disable the power stage after detecting that the motor has stopped, velocity threshold and velocity threshold time have to be also configured.