Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Hold Move
The HOLD MOVE command causes the move operation to decelerate at the programmed deceleration
rate to the Starting Speed and stop. When this operation is successfully performed, the Hold State Input
Bit is set. While the Hold operation is in affect, the velocity and acceleration deceleration parameters can
be changed, however, entering a new position will have no affect. If no error occurred during the stop
operation, the RESUME MOVE command can be used to restart the move operation.
• A Command Error will be generated if not all of the other command bits are reset when the Hold
Command is issued.
• Any command, including an entirely new move command, can be issued while the 3401 module is
in a Hold State. The module does not require that the Resume command be the next command
issued after the Hold command.
• Output words 1 to 7 do not have to be zero when the Hold command is issued.
• Because the module is already decelerating, it will ignore a Hold Move command issued during
the deceleration part of the profile.
• Homing operations cannot be held. If a Hold Move command is issued during a home operation, a
Command Error will be generated and remain while the home will run to completion.
• Blend Moves cannot be held. If a Hold Move command is issued while a Blend Profile is running,
the module will generate a command error, motion will continue until the profile is complete,
when the Command Error bit will be reset.
• A Hold Move command issued during a manual move generates a command error and will cause
the motion to stop.
Resume Move
The RESUME MOVE command resumes a previously held Absolute or Relative Move. If the Resume
Move command is the first command issued after a Hold Move operation, and no errors have occurred,
the Resume Move command will cause the stepper motor to restart from the point where it was stopped,
and the Hold State Input Flag be reset. If Triangular S Curve or Trapezoidal S Curve acceleration is
required, the appropriate acceleration type bit(s) must be set with the Resume Move bit. When the move
operation has been successfully completed, the Move Complete Flag will be set.
The velocity, acceleration, and deceleration parameters must be present when the Resume Command is
issued.
A move operation can be held and resumed many times until one of the following has occurred:
1. The move reaches its programmed target position
2. An error condition has occurred
3. Some other command is issued
Immediate Stop
The Immediate Stop command causes the current move operation to stop without any deceleration. The
pulse signal is simply stopped. If the channel was moving when this command was issued, the current
position will become invalid, and the Position Invalid Input Bit will be set. The channel will have to be
Preset or Homed again before an Absolute Move operation can be performed. However, it will be
possible to perform a Relative Move or a Manual Move after an Immediate Interrupt has occurred. There
will be no changes to the status bits if the Immediate Stop command is issued when there is no motion
occurring,