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Chapter 12 Expansion Control
Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is
shown below.
Item
Operation during continuous operation to torque control mode
Axis stop [Y4 to Y7] turned ON.
LD77MS2
LD77MS4
The speed limit value commanded to servo amplifier is "0"
regardless of the setting value of "
Cd.147
Speed limit value at
continuous operation to torque control mode
". The mode switches to
the position control mode when "Zero speed" of "
Md.108
Servo
status
" turns ON, and the operation immediately stops.
(Deceleration processing is not executed.)
The value of command torque is not changed. It might take time
to reach the speed "0" depending on the current torque
command value.
"
Cd.180
Axis stop" turned ON.
LD77MS16
Stop signal of "
Cd.44
External input
signal operation device
" turned ON.
All axis servo ON [Y1] turned OFF.
The servo OFF is not executed during the continuous operation
to torque control mode. The command status when the mode is
switched to the position control mode becomes valid.
"
Cd.100
Servo OFF command
" turned
ON.
The current value reached the software
stroke limit.
An error (error code: 507, 508, 104, 105, or 101) occurs. The
mode switches to the position control mode at the current
position, and the operation immediately stops. (Deceleration
processing is not executed.)
*1
When the operation immediately stops, the motor may start
hunting depending on the motor speed. Therefore, be sure not
to reach the limit in high speed and not to turn OFF the PLC
READY.
The position of the motor reached the
hardware stroke limit.
PLC READY [Y0] turned OFF.
The forced stop input to Simple Motion
module.
The mode is switches to the position control mode when the
servo OFF (Servo ON of "
Md.108
Servo status
" turns OFF) is
executed.
*1
(While the servo amplifier is servo OFF, even if the mode is
switched to position control mode, the servomotor immediately
stops.
The emergency stop input to servo
amplifier.
The servo alarm occurred.
The servo amplifier's power supply
turned OFF.
The motor immediately stops. (The mode is set to the position
control mode at the servo amplifier's power supply ON again.)
1: When the mode has switched from the speed control mode to the continuous operation
to torque control mode, the mode switches to the position control mode after switching
the speed control mode once. Therefore, it takes the following time to switch to the
position control mode.
Switching time for the speed control mode + Switching time for the position control
mode
Summary of Contents for MELSEC-L Series
Page 2: ......
Page 30: ...MEMO ...
Page 70: ...2 10 Chapter 2 System Configuration MEMO ...
Page 83: ...3 13 Chapter 3 Specifications and Functions MEMO ...
Page 103: ...3 33 Chapter 3 Specifications and Functions MEMO ...
Page 107: ...3 37 Chapter 3 Specifications and Functions MEMO ...
Page 111: ...3 41 Chapter 3 Specifications and Functions MEMO ...
Page 115: ...3 45 Chapter 3 Specifications and Functions MEMO ...
Page 140: ...4 22 Chapter 4 Installation Wiring and Maintenance of the Product MEMO ...
Page 253: ...5 113 Chapter 5 Data Used for Positioning Control MEMO ...
Page 342: ...5 202 Chapter 5 Data Used for Positioning Control MEMO ...
Page 438: ...7 20 Chapter 7 Memory Configuration and Data Process MEMO ...
Page 440: ...MEMO ...
Page 485: ...9 25 Chapter 9 Major Positioning Control MEMO ...
Page 594: ...9 134 Chapter 9 Major Positioning Control MEMO ...
Page 624: ...10 30 Chapter 10 High Level Positioning Control MEMO ...
Page 656: ...11 32 Chapter 11 Manual Control MEMO ...
Page 690: ...12 34 Chapter 12 Expansion Control MEMO ...
Page 798: ...13 108 Chapter 13 Control Sub Functions MEMO ...
Page 866: ...14 68 Chapter 14 Common Functions MEMO ...
Page 884: ...15 18 Chapter 15 Dedicated Instructions MEMO ...
Page 899: ...16 15 Chapter 16 Troubleshooting MEMO ...
Page 1036: ...Appendix 88 Appendices MEMO ...
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