Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 6 Sequence Program Used for Positioning Control
6.5.6 Stop program
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 as the stop program.
Signal QD77MS2 QD77MS4 QD77MS16
Axis stop signal Y4, Y5 Y4, Y5, Y6, Y7
Cd.180
Axis stop
The process for stopping control is explained below.
Each control is stopped in the following cases.
(1) When each control is completed normally.
(2) When the Servo READY signal is turned OFF.
(3) When a PLC CPU error occurs.
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in QD77MS.
(6) When control is intentionally stopped
(Stop signal from PLC CPU turned ON, "Stop signal" of external input signal
turned ON, etc.)
The stop process for the above cases is shown below.
(Excluding item (1) above "When each control is completed normally".)
[1] Stop process
Stop process
OPR control Manual control
Stop cause
Stop
axis
M code
ON signal
after stop
Axis operation
status after
stopping
(
Md.26
)
Machine
OPR control
Fast OPR
control
Major
positioning
control
High-level
positioning
control
JOG/
Inching
operation
Manual pulse
generator
operation
"Forced stop input
signal from an
external device" OFF
All
axes
No change Servo OFF
Servo READY OFF
• Servo amplifier
power supply OFF
Servo amplifier
has not been
connected
• Servo alarm Error
Forced stop
• Forced stop input
to servo amplifier
Each
axis
No change
Servo OFF
Servo OFF or free run (The operation stops with dynamic
brake)
Fatal stop
(Stop group 1)
Hardware stroke limit
upper/lower limit
error occurrence
Each
axis
No change Error
Deceleration stop/sudden stop
(Select with "
Pr.37
Stop group 1 sudden stop selection".)
Deceleration
stop
Error occurs in PLC
CPU
No change
PLC READY signal
OFF
Turns OFF
Emergency stop
(Stop group 2)
Error in test mode
All
axes
No change
Error
Delegation stop/sudden stop
(Select with "
Pr.38
Stop group 2 sudden stop selection".)
Deceleration
stop
Axis error detection
(Error other than stop
group 1 or 2)
Relatively safe stop
(Stop group 3)
"Stop" input from GX
Works2
Each
axis
No change Error
"Axis stop signal" ON
from PLC CPU
Intentional stop
(Stop group 3)
"Stop signal" of
external input signal
ON
Each
axis
No change
Stopped
(Standby)
Deceleration stop/sudden stop
(Select with "
Pr.39
Stop group 3 sudden stop selection".)
Deceleration
stop