Mitsubishi Electric MELSEC iQ-R Series User Manual page 155

■Axis error
If an axis error has occurred in the configuration axis, the error "Stop Cause of Axes Group Configuration Axis" (error code:
1A3DH) will occur in the axes group. In this case, the axes group will pass through the path and stop according to the
AxesGroupName.Pr.StopMode_General setting.
If a single axis control FB is executed to the configuration axis being operated in the axes group, an error will occur in the
single axis control FB, and the specified axis will change to the "Instruction issue to the configuration axis being operated in
the axes group" and then the "1: ErrorStop" status.
By an error occurrence in the configuration axis, the error "Stop Cause of Axes Group Configuration Axis" (error code:
1A3DH) occurs in the axes group, and the axes group will stop according to the process selected in
AxesGroupName.Pr.StopMode_General.
■"Stop signal" of external input signal is TRUE
When AxisName.Pr.StopSignal is turned TRUE to the configuration axis, a stop process is executed based on the stop
selection at stop by factors for an axis whose stop signal is turned TRUE. The axes group will pass through the path and
decelerate to a stop. When the speed reaches 0, CommandAborted will turn TRUE, and the axes group status
(AxesGroupName.Md.GroupStatus) will transit to "4: GroupStandby". The value set in
AxesGroupName.Pr.StopMode_Deceleration will be used for the deceleration at this time.
Execute
MCv_MoveLinearInter-
Error
polateRelative
CommandAborted
ErrorID
External input signal
(Stop signal)
AxesGroupName.Pr.
StopMode_General
AxisName.Md.AxisStatus
AxesGroupName.Md.GroupStatus
Velocity
Vector speed
• When stopping by turning AxisName.Pr.StopSignal to TRUE, the axes group status
(AxesGroupName.Md.GroupStatus) after stop will not change.
• When the stop processing is being executed by turning AxisName.Pr.StopSignal to TRUE, the deceleration
can be changed by executing MC_GroupStop.
• The deceleration can be changed by turning AxisName.Pr.StopSignal to TRUE during MC_GroupStop
execution. In this case, the axes group status (AxesGroupName.Md.GroupStatus) after the deceleration
stop will not change.
0
3: AlternativeAcc
4: Standstill 6: ContinuousMotion
4: GroupStandby 5: GroupMoving
4: Standstill
4: GroupStandby
Time
4 START AND STOP
4
153
4.4 Stop