Mitsubishi Electric MELSEC iQ-R Series User Manual page 220

Item
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.
Operation timing
• The following shows the operation in the speed control mode when "1: Servo OFF command valid during speed-torque
control" is set for "[Pr.112] Servo OFF command valid/invalid setting". The operation is the same in the torque control mode
and continuous operation to torque control mode.
[Cd.138] Control mode switching request
[Cd.139] Control mode setting
[Cd.140] Command speed at speed
control mode
BUSY signal
[Md.26] Axis operation status
Control mode
([Md.108] Servo status1: b2, b3)
[Pr.112] Servo OFF command
valid/invalid setting
[Cd.100] Servo OFF command
Servo ON
([Md.108] Servo status1: b1)
*1 The switching time depends on the servo amplifier specifications.
• The following shows the operation when the position control mode is switched to the speed control mode while the servo
OFF command is issued. The operation is the same when the position control mode is switched to the torque control mode/
continuous operation to torque control mode.
7 EXPANSION CONTROL
218
7.1 Speed-torque Control
Downloaded from ManualsNet.com
v
200.00 r/min
0
6 to 8 ms
0 1
0
0
OFF
0
[0, 0]
0
0
ON
search engine
Operation during continuous operation to torque control mode
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.)
When the operation immediately stops, the motor may start hunting depending on the motor
speed. Therefore, be sure not to reach the limit in high speed and not to turn OFF the PLC
READY signal [Y0].
An immediate stop will be performed as the stop processing of the controller. (The continuous
operation to torque control mode continues. After eliminating the cause, the continuous operation
to 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.)
*1
0
10
2000
ON
30 31
[0, 1]
1
1
OFF
t
6 to 8 ms *1
1 0
0
0
OFF
30 0
[0, 0]
0