Mitsubishi Electric Q173DSCPU Programming Manual page 35

2 STARTING UP THE SYSTEM
Deceleration stop/rapid stop
cause
[Rq.380] Synchronous control
start (M12000+n)
[St.380] Synchronous control
(M10880+n)
Start accept flag (M2001+n)
[Md.407] Cam axis current value
per cycle
(D13612+30n, D13613+30n)
Current feed value
(D0+20n, D1+20n)
Command speed
(#8004+20n, #8005+20n)
(2) Deceleration stop/rapid stop
The output axis stops with deceleration according to the stop and rapid stop
conditions.
The deceleration time and deceleration time for rapid stop are according to the
parameter block conditions specified by [Pr.448] Synchronous control
deceleration time parameter block No. (D15069+150n).
When the synchronous control ends as the deceleration stop begins, the output
axis monitor device is not updated, and only the monitor device for each axis is
updated.
Analyzing
POINT
(1) Since the synchronous control ends by the output axis stop, the current feed
value during deceleration stop draws the path regardless of the cam operation.
Therefore, the input axis must be stopped when the output axis is in
deceleration stop/rapid stop synchronizing with the input axis.
(2) Since the synchronous control ends by the output axis stop, [Rq.380]
Synchronous control start (M12000+n) ON to OFF during output axis
deceleration is invalid.
During output axis stop, use the rapid stop command and forced stop.
Synchronous control
2 - 6
t
t
t
Deceleration stop/
rapid stop