Mitsubishi Electric R32MTCPU Programming Manual page 138

■Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item
The "[Rq.380] Synchronous control start (M12000+n)" turned OFF.
The "[Rq.1140] Stop command (M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axis servo ON command (M2042)" turned OFF.
The "[Rq.1155] Servo OFF command (M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit.
The "[Rq.1120] PLC ready flag (M2000)" turned OFF.
The main shaft gear/auxiliary shaft gear/speed change gear 1/speed
change gear 2 operation overflow error occurred.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's power supply turned OFF.
7 AUXILIARY AND APPLIED FUNCTIONS
136
7.3 Speed-Torque Control
Operation during continuous operation to torque control mode
The mode is switched to position control mode when the speed limit command value is
set to "0" and "Zero speed (b3)" of "[Md.1022] Servo status 2 (#8011+20n)" turns ON,
and the operation stops immediately.
(Deceleration processing is not executed.) The value of command torque is not
changed. It might take time to reach at the speed "0" depending on the current torque
command value.
The servo OFF is not executed during synchronous control. (The synchronous control
does not end.) When the synchronous control is ended and the mode is switched to
position control mode, the command status at the time becomes valid.
The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The
mode is switched to position control mode at current position, and the operation
immediately stops. (Deceleration processing is not executed.)When the operation
immediately stops, the motor will start hunting depending on the motor
speed.Therefore, be sure not to reach to limit in high speed or do not turn OFF the PLC
READY.
The mode is switched to position control mode at current position, and the operation
immediately stops. (Deceleration processing is not executed.)
When the operation immediately stops, the motor will start hunting depending on the
motor speed.
The mode is switched to position control mode when the servo OFF (The "[St.1075]
Servo ready signal (M2415+20n)" turns OFF) is executed.
(While the servo amplifier is servo OFF, even if the mode is switched to position control
mode, the servomotor occurs to the free run. (The operation stops with dynamic
brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.)
(The mode is to position control mode at the servo amplifier's power supply ON again.)