Mitsubishi Electric Q173DSCPU Programming Manual page 209

8 AUXILIARY AND APPLIED FUNCTIONS
(c) Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control
mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item
The [Rq.380] Synchronous control start
(M12000+n) turned OFF.
The stop command (M3200+20n) turned ON.
The rapid stop command (M3201+20n)
turned ON.
The external stop input turned ON.
The All axis servo ON command (M2042)
turned OFF.
Servo OFF command (M3215+20n) turned
ON.
The current value reached to software stroke
limit.
The position of motor reached to hardware
stroke limit
The PLC ready flag (M2000) turned OFF.
The main shaft gear/auxiliary shaft
gear/speed change gear 1/speed change
gear 2 operation overflow error occurred.
The forced stop input to Motion CPU.
The emergency stop input to servo amplifier.
The servo error occurred.
The servo amplifier's power supply turned
OFF.
Operation during torque control mode
The mode is switched to position control mode when the
speed limit command value is set to "0" and "Zero speed
(b3)" of servo status2 (#8011+20n) turns ON, and the
operation stops immediately.
(Deceleration processing is not executed.)
The value of command torque is not changed. It might take
time to reach at the speed "0" depending on the current
torque command value.
The servo OFF is not executed during synchronous control.
(The synchronous control does not end.) When the
synchronous control is ended and the mode is switched to
position control mode, the command status at the time
becomes valid.
The minor error (error code: 200, 207) and major error
(error code: 1101, 1102) will occur. The mode is switched to
position control mode at current position, and the operation
immediately stops. (Deceleration processing is not
executed.) When the operation immediately stops, the
motor will start hunting depending on the motor speed.
Therefore, be sure not to reach to limit in high speed or do
not turn OFF the PLC READY.
The mode is switched to position control mode at current
position, and the operation immediately stops. (Deceleration
processing is not executed.)
When the operation immediately stops, the motor will start
hunting depending on the motor speed.
The mode is switched to position control mode when the
servo OFF (The servo ready signal (M2415+20n) turns
OFF) is executed.
(While the servo amplifier is servo OFF, even if the mode is
switched to position control mode, the servomotor occurs to
the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with
dynamic brake.)
(The mode is to position control mode at the servo
amplifier's power supply ON again.)
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