Mitsubishi Electric MELSEC iQ-R Series User Manual page 219

Item
"[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.
■Stop cause during torque control mode
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.
■Stop cause during continuous operation to torque control mode
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.
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Operation during speed control mode
The servo OFF is executed and the speed control mode continues. At the stop due to servo OFF,
it is not braked by the dynamic brake. After the servo ON, the speed control mode can be
continued.
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.)
An immediate stop will be performed as the stop processing of the controller. (The speed control
mode continues. After eliminating the cause, the speed control mode can be continued.)
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.)
Operation during torque control mode
The speed limit value to be commanded to the servo amplifier is "0" regardless of the setting value
of "[Cd.146] Speed limit value at torque control mode". The mode switches to the position control
mode when "Zero speed" of "[Md.119] Servo status2" turns ON, and the operation immediately
stops. (Deceleration processing is not executed.)
The value of command torque is not changed. It might take time to reach the speed "0" depending
on the current torque command value. While the servo amplifier is servo OFF, even if "[Cd.180]
Axis stop" is turned ON, the stop signal is not accepted.
The servo OFF is executed and the torque control mode continues. At the stop due to servo OFF,
it is braked by the dynamic brake. After the servo ON, the torque control mode can be continued.
The servo OFF is executed and the torque control mode continues. At the stop due to servo OFF,
it is not braked by the dynamic brake. After the servo ON, the torque control mode can be
continued.
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.)
An immediate stop will be performed as the stop processing of the controller. (The torque control
mode continues. After eliminating the cause, the torque control mode can be continued.)
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.)
Operation during continuous operation to torque control mode
The speed limit value to be commanded to the servo amplifier is "0" regardless of the setting
value of "[Cd.147] Speed limit value at continuous operation to torque control mode". The mode
switches to the position control mode when "Zero speed" of "[Md.119] Servo status2" turns ON,
and the operation immediately stops. (Deceleration processing is not executed.)
The value of command torque is not changed. It might take time to reach the speed "0" depending
on the current torque command value.
The servo OFF is executed and the continuous operation to torque control mode continues. At the
stop due to servo OFF, it is braked by the dynamic brake. After the servo ON, the continuous
operation to torque control mode can be continued.
The servo OFF is executed and the continuous operation to torque control mode continues. At the
stop due to servo OFF, it is not braked by the dynamic brake. After the servo ON, the continuous
operation to torque control mode can be continued.
7 EXPANSION CONTROL
217
7.1 Speed-torque Control
7