Mitsubishi Electric MELSEC iQ-R Series User Manual page 210

■Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
Item
"[Cd.180] Axis stop" turned ON.
Stop signal of "[Cd.44] External input signal operation
device" turned ON.
All axis servo ON [Y1] turned OFF.
"[Cd.100] Servo OFF command" turned ON.
The current value reached the software stroke limit.
The position of the motor reached the hardware stroke
limit.
The PLC READY signal [Y0] turned off.
Command discard was detected on the servo amplifier.
The forced stop input to Motion module.
The emergency stop input to servo amplifier.
The servo alarm occurred.
The servo amplifier's power supply turned OFF.
7 EXPANSION CONTROL
208
7.1 Speed-torque Control
Downloaded from ManualsNet.com search engine
Operation during speed control mode
The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time
at speed control mode". The mode switches to the position control mode when "Zero speed" of
"[Md.119] Servo status2" turns ON, and the operation stops.
The servo OFF is not executed during the speed control mode. The command status when the
mode is switched to the position control mode becomes valid.
An error (error code: 1A00H, 1A04H to 1A07H, 1A93H, 1A95H, 1BE6H) occurs. The mode
switches to the position control mode at the current position, and the operation immediately stops.
(Deceleration processing is not executed.)
The mode switches to the position control mode when the servo OFF (Servo ON of "[Md.108]
Servo status1" turns OFF) is executed. (While the servo amplifier is servo OFF, even if the mode
is switched to position control mode, the servo motor immediately stops.)
An immediate stop will be performed as the stop processing of the controller. (The mode is set to
the position control mode at the servo amplifier's power supply ON again.)