Stop Program - Mitsubishi Electric QD75MH1 User Manual

6 PLC PROGRAM USED FOR POSITIONING CONTROL

6.5.6 Stop program

Stop cause
"Forced stop input
signal from an
external device"
OFF
Servo READY OFF
• Servo amplifier
Forced stop
power supply
OFF
• Servo alarm
• Forced stop input
to servo amplifier
Hardware stroke
Fatal stop limit upper/lower
(Stop group 1) limit error
occurrence
Error occurs in PLC
CPU
Emergency stop
PLC READY signal
(Stop group 2)
OFF
Error in test mode
Axis error detection
(Error other than
Relatively safe stop
stop group 1 or 2)
(Stop group 3)
"Stop" input from
peripheral device
"Stop signal" ON
from external
Intentional stop
device
(Stop group 3)
"Axis stop signal"
ON from PLC CPU
The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external device 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 Servo 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 QD75MH.
(6) When control is intentionally stopped
(Stop signal from PLC CPU turned ON, stop signal from peripheral devices)
The stop process for the above cases is shown below.
(Excluding item (1) above "When each control is completed normally".)
[1] Stop process
operation
M code
Stop axis ON signal
Md.26
(
after stop
stopping
All axes No change Servo OFF
Servo
amplifier
disconnected
Each
No change
axis
During error
Servo OFF
Each
No change During error
axis
No change
All axes During error
Turns OFF
No change
Each
No change During error
axis
During stop
Each (during
No change
axis standing
by)
Axis
OPR control
status
Machine
)
Fast OPR
OPR
control
after
control
Servo OFF or free run (The operation stops with dynamic brake)
Deceleration stop/sudden stop
Pr.37
(Select with "
selection".)
Delegation stop/sudden stop
Pr.38
(Select with "
selection".)
Deceleration stop/sudden stop
Pr.39
(Select with "
selection".)
6 - 69
Stop process
Major High-level
positioning positioning
control control
Sudden stop group 1 sudden stop
Sudden stop group 2 sudden stop
Sudden stop group 3 sudden stop
MELSEC-Q
Manual control
JOG/ Manual pulse
Inching generator
operation operation
Deceleration
stop
Deceleration
stop
Deceleration
stop