IAI MSEL, Instruction Manual, Page: 209 / 234

Chapter 7
Appendix
201
7.2 Stopping method and Recovery
7.2.1 Stopping method
Actuator operation can be stopped in two methods: normal operation stop and emergency
stop.
1) Normal operation stop
Normal position control is active: Set a deceleration operation plan and cause the
actuator to decelerate to a stop, according to the plan,
under normal position control
2) Emergency stop (stop with immediate servo-OFF)
Cancel the operation plan and immediately turn OFF the servo (power supply to the motor
is cut off).
How operation is stopped in each condition is explained below.
Stop command,
Condition
Stopping
method
Remarks
Pause 1)
Servo OFF 1)
Emergency stop 1)
Since the motor drive source is cut off by hardware means,
the deceleration operation plan may have to be forcibly
stopped beforehand.
SEL program command 1)
Stop is made when the following four commands are
issued.
HOLD, CANC, STOP, ABPG
Errors not described in list 1)
Errors in list 2)
Error of stop with immediate servo OFF in 2)
Error No. Error name
614
Driver synchronizing communication LRC error
6BB Deviation overflow error (home return not yet complete)
6BC Stop deviation overflow error (home return not yet complete)
B05 Estimate stroke exceeded during home return
B11 Home position sensor escape timeout error
C6B Deviation overflow error
C99 Home position undetected error
CA5 Stop deviation overflow error
CC6 Driver error initial detection
D0A Driver overload error
D10 IPM error (POE0)
D15 Driver CPU down status error
D17 Main CPU alarm status error
F00 to FBF All system-down level errors