Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 1 Product Outline
1.2.3 Outline of stopping
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 the QD77MS.
(6) When control is intentionally stopped (Stop signal from PLC CPU turned ON or
Stop signal of external input signal turned ON, etc.).
The outline for the stopping process in these cases is shown below. (Excluding (1) for
normal stopping.)
Refer to Section 12.1 "Speed-torque control" for the stop processing during the speed
control mode, torque control mode or continuous operation to torque control mode.
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 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 or
electromagnetic 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
Deceleration stop/sudden stop
(Select with " Pr.38 Stop group 2 sudden stop
selection".)
Deceleration
stop