Immediate Stop; Deceleration Stop - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Immediate stop

There is no deceleration processing for this stop. The Motion CPU stops commands immediately but the servo amplifier
coasts for the amount of droop pulses in the deviation counter. The timing chart for immediate stop is shown below.
V
Immediate stop cause
[St.3208] During G-code
control (D54440.0+4s)
[St.3211] During memory
mode (D54440.8+4s)
[St.3212] During automatic
operation (D54441.0+4s)
[St.3213] Automatic operation
starting (D54441.1+4s)
[St.3215] G-code control
finishing (D54441.3+4s)
[St.3210] All axes smoothing
zero (D54440.2+4s)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)

Deceleration stop

All axes within the line decelerate according to the acceleration/deceleration time constant in the G-code control parameter,
and G-code control ends after coming to a stop.
The timing chart for a deceleration stop is shown below.
V
Deceleration stop cause
[St.3208] During G-code
control (D54440.0+4s)
[St.3211] During memory
mode (D54440.8+4s)
[St.3212] During automatic
operation (D54441.0+4s)
[St.3213] Automatic operation
starting (D54441.1+4s)
[St.3215] G-code control
finishing (D54441.3+4s)
[St.3210] All axes smoothing
zero (D54440.2+4s)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
t
t
2 STARTING UP THE SYSTEM
2.6 G-Code Control System Stop Operation
2
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