Mitsubishi Electric RD77MS16, User Manual

Page: 27 / 644

1 START AND STOP
1.2 Stop
25
1
1.2
Stop
The axis stop signal or stop signal from external input signal is used to stop the control.
Create a program to turn ON the axis stop signal [Cd.180] as the stop program.
Each control is stopped in the following cases.
• When each control is completed normally
• When the Servo READY signal is turned OFF
• When a CPU module error occurs
• When the PLC READY signal is turned OFF
• When an error occurs in Simple Motion module
• When control is intentionally stopped (Stop signal from CPU module turned ON, "Stop signal" of external input signal turned
ON, etc.)
The stop process for the above cases is shown below.
(Excluding when each control is completed normally.)
Stop process
*1 If an error occurs in a positioning data due to an invalid setting value, when the continuous positioning control uses multiple positioning
data successively, it automatically decelerates at the previous positioning data. It does not stop suddenly even the setting value is
sudden stop in stop group 3. If any of the following error occurs, the operation is performed up to the positioning data immediately before
the positioning data where an error occurred, and then stops immediately.
No command speed (error code: 1A13H, 1A14H)
Outside linear movement amount range (error code: 1A15H, 1A16H)
Large arc error deviation (error code: 1A17H)
Software stroke limit + (error code: 1A18H, 1A19H)
Software stroke limit - (error code: 1A1AH, 1A1BH)
Sub point setting error (error code: 1A27H, 1A28H, 1A29H, 1A2AH, 1A37H)
End point setting error (error code: 1A2BH, 1A2CH)
Center point setting error (error code: 1A2DH, 1A2EH, 1A2FH)
Outside radius range (error code: 1A32H)
Illegal setting of ABS direction in unit of degree (error code: 19A4H, 19A5H)
Stop cause Stop axis M code ON signal after
stop Axis operation status
after stopping ([Md.26])
Forced stop "Forced stop input signal" OFF
from an external device All axes No change Servo OFF
Servo READY OFF
• Servo amplifier power supply
OFF
Each axis No change Servo amplifier has not been
connected
• Servo alarm Error
• Forced stop input to servo
amplifier
Servo OFF
Fatal stop
(Stop group 1)
Hardware stroke limit upper/lower
limit error occurrence
Each axis No change Error
Emergency stop
(Stop group 2)
Error occurs in a CPU module All axes No change Error
PLC READY signal OFF Turns OFF
Error in test mode No change
Relatively safe
stop
(Stop group 3)
Axis error detection (Error other
than stop group 1 or 2)
*1
Each axis No change Error
"Stop" input from an engineering
tool
Intentional stop
(Stop group 3) "Axis stop signal" ON from a CPU
module Each axis No change Stopped
(Standby)
"Stop signal" of external input
signal ON