Quick Stop - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. CiA 402 DRIVE PROFILE
(3) High-precision touch probe
TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch
function with precision of 55 μs. On the other hand, the high-precision touch probe latches precisely
startup time of TPR2 (touch probe 2) with precision of 2 μs. To use the high-precision touch probe, set
[Pr. PD37] to "_ _ _ 1". While the high-precision touch probe is being used, the encoder pulse output
function cannot be used. The precision of rising edge is 55 μs in this case as well.

5.6 Quick stop

Decelerate the servo motor to a stop with the Quick stop command of Controlword (6040h). The following
table shows the related objects.
Index Sub Object
6085h VAR
605Ah VAR
The operation method of deceleration to a stop can be specified with Quick stop option code (605Ah). The
following table shows the supported methods and the operations.
Setting value
csp/csv: The servo motor decelerates to a stop with Quick stop deceleration (6085h) and the state shifts to the
cst/pt: The state shifts to the Switch on disabled state and the servo motor is stopped with the dynamic brake.
1
(Not supported)
pp/pv: The servo motor decelerates to a stop with Profile deceleration (6084h) and the state shifts to the Switch
(Note)
On Disabled state.
hm: The servo motor decelerates to a stop with Homing acceleration (609Ah) and the state shifts to the Switch On
Disabled state.
In the cyclic synchronous mode (csp/csv), profile position mode (pp/pv), and homing mode (hm), the servo motor
decelerates to a stop with Quick stop deceleration (6085h) and the state shifts to the Switch On Disabled state.
2
In the cyclic synchronous torque mode (cst) and profile torque mode (tq), the state immediately shifts to the
Switch On Disabled state and the servo motor stops with the dynamic brake.
3 The current is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On Disabled
(Not supported) state.
(Note)
4 The voltage is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On Disabled
(Not supported) state.
(Note)
5 The servo motor decelerates to a stop. The state does not change from the Quick Stop Active state (servo-on).
(Not supported)
(Note)
6 The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change from the
(Not supported) Quick Stop Active state (servo-on).
(Note)
7 The current is limited and the servo motor decelerates to a stop. The state does not change from the Quick Stop
(Not supported) Active state (servo-on).
(Note)
8 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Quick Stop
(Not supported) Active state (servo-on).
(Note)
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
Name
Quick stop
deceleration
Quick stop option
code
Table 5.2 Quick stop option code
Switch On Disabled state.
Data
Access Default
Type
U32 rw 100
I16 rw 2
Description
5 - 57
Description
Deceleration at deceleration to a stop by
Quick stop
Unit: ms
Refer to table 5.2 for details.