Mitsubishi A1SD75P1-S3, User Manual

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MELSEC-A
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.5.6 Stop program
The axis stop signal [Y13, Y14, Y1C] or a stop signal from an external source is used
to stop the control. Create a program to turn the axis stop signal [Y13, Y14, Y1C] ON
as the stop program.
The process for stopping control is explained below.
Each control is stopped in the following cases.
(a) When each control is completed normally.
(b) When the drive unit READY signal is turned OFF.
(c) When the PLC READY signal is turned OFF. (When "parameter error' or "watch
dog timer error" occurs in PLC CPU.)
(d) When an error occurs.
(e) When control is intentionally stopped. (Stop signal from PLC CPU turned ON, stop
from peripheral device, etc.)
The stop process for the above cases is shown below. (Excluding (a) when the
operation stops normally.)
(1) Stop process
Stop process
Zero point return
control
Manual control
Stop cause
Stop
axis
Axis
operation
status
(
M d .3 5
)
after
stopping
Machine
zero point
return
control
High-
speed
zero
point
return
control
Main
positioning
control Advanced
positioning
control
JOG
opera-
tion
Manual
pulse
generator
operation
Forced stop
Drive
unit
READY
signal OFF
Each
axis During
error
Immediate stop
Immediate
stop
Fatal stop
(Stop group 1)
Hardware stroke
limit upper/lower
limit error
occurrence
Each
axis During
error
Deceleration stop/sudden stop
(Select with
Pr.38
)
Deceleration
stop
Software stroke
limit upper/lower
limit error
occurrence
Each
axis
PLC READY
signal OFF
Emergency
stop
(Stop group 2)
"Stop" input from
external device
All
axes
During
error
Deceleration stop/sudden stop
(Select with
Pr.39
)
Deceleration
stop
Axis error
detection (Error
other than stop
group 1 or 2)
Relatively safe
stop
(Stop group 3)
Error in test mode
Each
axis During
error
"Stop signal" ON
from external
source
Intentional stop
(Stop group 3) "Axis stop signal"
ON from PLC
CPU
Each
axis
When
stopped
(While
waiting)
Deceleration stop/sudden stop
(Select with
Pr.40
)
Deceleration
stop
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