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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.5.6 Stop program
The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external source is used
to stop the control.
Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program.
The process for stopping control is explained below.
Each control is stopped in the following cases.
(1) When each control is completed normally.
(2) When the drive unit READY signal is turned OFF.
(3) When a PLC CPU error occurs
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in QD75.
(6) When control is intentionally stopped
The stop process for the above cases is shown below.
(Excluding item (1) above "When each control is completed normally".)
[1] Stop process
Stop cause
Drive unit
Forced stop
READY signal
OFF
Hardware stroke
Fatal stop
limit upper/lower
(Stop group 1)
limit error
occurrence
PLC CPU error
occurrence
Emergency stop
PLC READY
(Stop group 2)
signal OFF
Error in test
mode
Axis error
detection (Error
Relatively safe
other than stop
stop
group 1 or 2)
(Stop group 3)
"Stop" input from
peripheral device
"Stop signal" ON
from external
source
Intentional stop
(Stop group 3)
"Axis stop signal"
ON from PLC
CPU
(Stop signal from PLC CPU turned ON, stop signal from peripheral devices)
Axis
operation
M code
status
Stop
ON
Md.26
axis
signal
(
)
after stop
after
stopping
Each
No
During
Immediate stop
axis
change
error
Deceleration stop/sudden stop
Each
No
During
(Select with "
axis
change
error
selection".
No
change
Delegation stop/sudden stop
Turns
During
(Select with "
All axes
OFF
error
selection".
No
change
Each
No
During
axis
change
error
Deceleration stop/sudden stop
(Select with "
During
selection".
stop
Each
No
(during
axis
change
standing
by)
6 - 42
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Stop process
OPR control
Major
Machine
Fast OPR
positioning
OPR
control
control
control
Pr.37
Sudden stop group 1 sudden stop
Pr.38
Sudden stop group 2 sudden stop
Pr.39
Sudden stop group 3 sudden stop
MELSEC-Q
Manual control
High-level
Manual
JOG/
positioning
pulse
Inching
control
generator
operation
operation
Deceleration
stop
Deceleration
stop
Deceleration
stop
Deceleration
stop
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