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Stop Operation Of Output Axis - Mitsubishi Electric RD77MS2 User Manual

Melsec iq-r simple motion module.
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Stop operation of output axis

If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after
stops processing for the output axis (BUSY signal is OFF, axis operation status is standby).
Synchronous alignment must be executed for the output axis to restart the synchronous control. (Page 90 Output Axis
Module)
Stop cause
The target axis bit of "[Cd.380] Synchronous control start" is turned from ON to OFF.
Software stroke limit error occurrence
Emergency stop
Forced stop
*1
Stop group1 to 3
(Stop with hardware stroke limit or stop command)
*1 Refer to "User's Manual (Application)" of the Simple Motion module that is used.
Immediate stop
The operation stops without decelerate. The Simple Motion module immediately stops the command, but the operation will
coast for the droop pulses accumulated in the deviation counter of the servo amplifier.
[Md.407] Cam axis current value
per cycle
[Md.20] Feed current value
(Cam operation)
[Md.22] Feedrate
[Cd.380] Synchronous control start
(Target axis bit)
BUSY signal
Deceleration stop
The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 sudden stop selection" to "[Pr.39] Stop
group 3 sudden stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time" for
deceleration stop, and in "[Pr.36] Sudden stop deceleration time" for sudden stop. The slope of deceleration is as follows.
=
Slope of deceleration
"[Pr.8] Speed limit value"
The cam axis current value per cycle is not updated, and only the feed current value is updated, since the deceleration stop
begins. Therefore, the path of the feed current value is drawn regardless the cam operation with deceleration stop.
The input axis must be stopped when the output axis is stop synchronizing with the input axis.
[Md.407] Cam axis current value
per cycle
[Md.20] Feed current value
(Cam operation)
[Md.22] Feedrate
[Cd.380] Synchronous control start
(Target axis bit)
Axis stop signal
BUSY signal
Deceleration time
/
(Sudden stop deceleration time)
1 OUTLINE OF SYNCHRONOUS CONTROL
1.3 Operation Method of Synchronous Control
Stop process
Immediate stop
Deceleration stop
t
t
t
Immediate stop
t
t
t
Deceleration stop
1
23

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