Stop - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.2
The axis stop signal or stop signal from external input signal is used to stop the control.
Create a program to turn ON the axis stop signal [Cd.180] as the stop program.
Each control is stopped in the following cases.
• When each control is completed normally
• When the Servo READY signal is turned OFF
• When a CPU module error occurs
• When the PLC READY signal [Y0] is turned OFF
• When an error occurs in the Motion module
• When control is intentionally stopped (Stop signal from CPU module turned ON, "Stop signal" of external input signal turned
ON, etc.)
The stop process for the above cases is shown below.
(Excluding when each control is completed normally.)
Refer to the following for the stop process during speed control mode and torque control mode.
Page 191 Speed-torque Control
Refer to the following for the stop process during test mode operation.
Page 354 Stop operation of the test mode operation axes
Stop process
Stop cause
Forced stop
Forced stop
Fatal stop
(Stop group 1)
Emergency stop
(Stop group 2)
Relatively safe stop
(Stop group 3)
Intentional stop
(Stop group 3)
*1 If an error occurs in a positioning data due to an invalid setting value, when the continuous positioning control uses multiple positioning
data successively, it automatically decelerates at the previous positioning data. It does not stop rapidly even the setting value is rapid
stop in stop group 3. If any of the following error occurs, the operation is performed up to the positioning data immediately before the
positioning data where an error occurred, and then stops immediately.
No command speed (error code: 1B13H, 1B14H)
Outside linear movement amount range (error code: 1B15H, 1B16H)
Large arc error deviation (error code: 1B17H)
Software stroke limit + (error code: 1B18H, 1B19H)
Software stroke limit - (error code: 1B1AH, 1B1BH)
Sub point setting error (error code: 1B27H, 1B28H, 1B29H, 1B2AH, 1B37H)
End point setting error (error code: 1B2BH, 1B2CH)
Center point setting error (error code: 1B2DH, 1B2EH, 1B2FH)
Outside radius range (error code: 1B32H)
Illegal setting of ABS direction in unit of degree (error code: 1AA4H, 1AA5H)
*2 It is recommended to control the stop signal after checking the condition while the axis is BUSY, such as incorporating the fact that the
BUSY signal is ON as the interlock condition. The error "Stop signal ON at start" (error code: 1A08H) can be prevented depending on
the timing.
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Stop

Forced stop input to the Motion
module
Servo READY OFF
• Servo amplifier power supply
OFF
• Servo alarm
• Forced stop input to servo
amplifier
Hardware stroke limit upper/lower
limit error occurrence
Error occurs in a CPU module
PLC READY signal [Y0] OFF
Axis error detection (Error other
*1
than stop group 1 or 2)
"Axis stop signal" ON from a CPU
*2
module
search engine
Stop axis M code ON signal after stop Axis operation status
All axes No change
Each axis No change
Each axis No change
All axes No change
Turns OFF
Each axis No change
Each axis No change
after stopping ([Md.26])
Servo OFF
Servo amplifier has not been
connected
Error
Servo OFF
Error
Error
Error
Stopped
(Standby)
1 START AND STOP
27
1.2 Stop
1