Stop - Mitsubishi Electric RD77MS2 User Manual

1.2

Stop

The axis stop signal or stop signal from external input signal is used to stop the control.
Create a program to turn ON the axis stop signal [Cd.180] as the stop program.
Each control is stopped in the following cases.
• When each control is completed normally
• When the Servo READY signal is turned OFF
• When a CPU module error occurs
• When the PLC READY signal is turned OFF
• When an error occurs in Simple Motion module
• When control is intentionally stopped (Stop signal from CPU module turned ON, "Stop signal" of external input signal turned
ON, etc.)
The stop process for the above cases is shown below.
(Excluding when each control is completed normally.)
Stop process
Stop cause
Forced stop "Forced stop input signal" OFF
from an external device
Servo READY OFF
• Servo amplifier power supply
OFF
• Servo alarm
• Forced stop input to servo
amplifier
Fatal stop Hardware stroke limit upper/lower
(Stop group 1) limit error occurrence
Emergency stop Error occurs in a CPU module
(Stop group 2)
PLC READY signal OFF
Error in test mode
Relatively safe Axis error detection (Error other
stop than stop group 1 or 2)
(Stop group 3)
"Stop" input from an engineering
tool
Intentional stop "Axis stop signal" ON from a CPU
(Stop group 3) module
"Stop signal" of external input
signal ON
*1 If an error occurs in a positioning data due to an invalid setting value, when the continuous positioning control uses multiple positioning
data successively, it automatically decelerates at the previous positioning data. It does not stop suddenly even the setting value is
sudden stop in stop group 3. If any of the following error occurs, the operation is performed up to the positioning data immediately before
the positioning data where an error occurred, and then stops immediately.
No command speed (error code: 1A13H, 1A14H)
Outside linear movement amount range (error code: 1A15H, 1A16H)
Large arc error deviation (error code: 1A17H)
Software stroke limit + (error code: 1A18H, 1A19H)
Software stroke limit - (error code: 1A1AH, 1A1BH)
Sub point setting error (error code: 1A27H, 1A28H, 1A29H, 1A2AH, 1A37H)
End point setting error (error code: 1A2BH, 1A2CH)
Center point setting error (error code: 1A2DH, 1A2EH, 1A2FH)
Outside radius range (error code: 1A32H)
Illegal setting of ABS direction in unit of degree (error code: 19A4H, 19A5H)
Stop axis
All axes
Each axis
Each axis
All axes
Each axis
*1
Each axis
M code ON signal after Axis operation status
stop after stopping ([Md.26])
No change Servo OFF
No change Servo amplifier has not been
connected
Error
Servo OFF
No change Error
No change Error
Turns OFF
No change
No change Error
No change Stopped
(Standby)
1 START AND STOP
1
25
1.2 Stop