Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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1 STARTING AND STOPPING
1.2 Stopping
Order of priority for the stop processing
The order of priority for the RD75 stop processing is as follows.
(Deceleration stop) < (Sudden stop) < (Immediate stop)
• If the deceleration stop command is on (stop signal is on) or a deceleration stop cause occurs during the deceleration to
speed 0 (including automatic deceleration), the operation changes depending on the setting in [Cd.42] Stop command
processing for deceleration stop selection. (

Page 269 Stop command processing for deceleration stop function)
• If the on state of the stop signal or stop cause specified for a sudden stop occurs is detected during deceleration, the
sudden stop processing will start at that point. However, if the sudden stop deceleration time is longer than the deceleration
time, the deceleration stop processing will be continued even if a sudden stop cause occurs during the deceleration stop
processing.
• In the position control (including the speed-position switching control and position-speed switching control), the positioning
may stop depending on the timing of the stop cause occurrence and the set value in [Pr.36] Sudden stop deceleration time.
Positioning control
during the deceleration Setting value of [Cd.42] Processing
Manual control  Regardless of the setting of [Cd.42] Stop command processing for deceleration stop selection,
a deceleration curve is re-processed from the speed at the occurrence of a stop cause.
OPR control, positioning
control 0: Deceleration curve re-
processing A deceleration curve is re-processed from the speed at the occurrence of a stop cause
(

Page 269 Deceleration curve re-processing).
1: Deceleration curve
continuation The current deceleration curve is maintained after the occurrence of a stop cause (

Page
269 Deceleration curve continuation).
Positioning speed Deceleration stop
processing
Stop
Sudden stop cause
Sudden stop
deceleration processing
Positioning speed Deceleration stop
processing
Sudden stop cause
Deceleration stop
processing continues.
Stop
Processing for
sudden stop
The processing when a sudden stop cause occurred during deceleration stop is shown below.
(a) (b) Deceleration stop time > Sudden stop
deceleration time Deceleration stop time < Sudden stop
deceleration time
Example
t
V
t
V
Stop cause occurrence
(sudden stop cause)
Deceleration curve
according to sudden
stop deceleration time
Deceleration curve
when a stop cause
does not occur
(Immediate stop at the specified positioning address)
Stop cause occurrence
(sudden stop cause)
Deceleration curve
according to sudden
stop deceleration time
Deceleration curve
when a stop cause
does not occur
(Sudden stop just before the specified positioning address)
Deceleration stop processing
(automatic deceleration) start Deceleration stop processing
(automatic deceleration) start