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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.6.5 Stop program
Stop cause
unit
Drive
Forced stop
signal OFF
Hardware stroke
Fatal stop
limit upper/lower
(Stop group 1)
limit error
occurrence
Remote station
READY signal
Emergency
OFF
stop
(Stop group 2)
"Stop" input from
external device
Axis error
detection (Error
Relatively safe
other than stop
stop
group 1 or 2)
(Stop group 3)
Error in test mode
"Stop signal" ON
from external
Intentional
source
stop (Stop
"Axis stop signal"
group 3)
ON from PLC
CPU
The axis stop signal [RY(n+1)3, RY(n+1)4] or a stop signal from an external source is
used to stop the control. Create a program to turn the axis stop signal [RY(n+1)3,
RY(n+1)4] 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 CC-Link data link stops.
(d) When Initial data setting request (RY(n+7)9) turns ON and Remote station READY
(RX(n+7)B) turns OFF.
(e) When an error occurs D75P2.
(f) When control is intentionally stopped (Stop signal from master module 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
Axis
operation
status
Stop
(RWrn+7,
axis
RWrn+15)
after
stopping
READY
Each
During
axis
error
Each
During
axis
error
All
During
axes
error
Each
During
axis
error
When
Each
stopped
axis
(While
waiting)
Zero point return
control
High-
Main
Machine
speed
positioning
zero point
zero
control
return
point
control
return
control
Immediate stop
Deceleration stop/sudden stop
Pr.38
(Select with
Deceleration stop/sudden stop
Pr.39
(Select with
Deceleration stop/sudden stop
Pr.40
(Select with
6 - 64
MELSEC-A
Stop process
Manual control
Advanced
positioning
JOG
control
opera-
tion
)
)
)
Manual
pulse
generator
operation
Immediate
stop
Deceleration
stop
Deceleration
stop
Deceleration
stop
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