Stopping - Mitsubishi Electric MELSEC iQ-F Series FX5 User Manual

7.2

Stopping

This section describes the stop control of the positioning. The following events may stop each positioning control by the
positioning module.
• When each control ends normally
• When Drive unit READY signal (READY) is turned OFF
• When an error occurred in the CPU module
• When "[Cd.190] PLC READY signal" is turned OFF
• If an error occurred in the positioning module
• When an operation is intentionally stopped (When a stop signal sent from the CPU module is turned ON, or a stop signal
from an external device)
Stop processing
The stop controls are classified into three types: deceleration stop, sudden stop, and immediate stop. The following table
describes the stop controls (deceleration stop, sudden stop, and immediate stop) at the occurrence of each stop cause (When
the automatic deceleration control is performed).
Stop cause
Forced stop Drive unit READY signal
(READY) is OFF
Fatal stop (Stop Hardware stroke limit upper/lower
group 1) limit error occurred
Emergency stop CPU module error occurred
(Stop group 2)
"[Cd.190] PLC READY signal"
OFF
Failure in the test mode
Relatively safe stop Axis error detection (errors other
(Stop group 3) than the ones in stop group 1 and
*1
2)
Error at operation mode switching
in amplifier-less operation
Intentional stop Stop signal turned ON by an
(Stop group 3) external device
Axis stop signal ([Cd.180]) from
the CPU module is turned ON.
"Stop" input from GX Works3
*1 When multiple positioning data is implemented by the continuous positioning control or continuous path control and there is an invalid
setting value in a positioning data, an error occurs and deceleration to stop is implemented at the previous positioning data. In this case,
the sudden stop is not performed even if sudden stop is selected for the stop group 3. If any of the following errors occurs, the operation
is immediately stopped after the execution of the positioning data that is one before the positioning data No. where the error occurred.
⋅ 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)
*2 Describes errors (error code: 18B0H) when switching operations modes from normal operation mode→amplifier-less operations mode
and errors (error code: 18B1H) when switching from amplifier-less operation mode →normal operation mode.
7 STARTING AND STOPPING
66
7.2 Stopping
Stop Buffer memory status after
axis stopping
M code ON
([Md.31]: b12)
Each axis Not changed
Each axis Not changed
All axes Not changed
Turned OFF
Not changed
Each axis Not changed
All axes
*2
Each axis Not changed
Stop processing
[Md.26] Axis Main functions other
operation than manual pulse
status generator operations
Error Immediate stop
Error Deceleration stop or sudden
stop (Select with [Pr.37] Stop
group 1 sudden stop
selection.)
Error Deceleration stop or sudden
stop (Select with [Pr.38] Stop
group 2 sudden stop
selection.)
Error Deceleration stop or sudden
stop (Select with [Pr.39] Stop
group 3 sudden stop
selection.)
Stopped
(standby)
Manual
pulse
generator
operation
Deceleration
stop
Deceleration
stop
Deceleration
stop
Deceleration
stop