Stop Program - Mitsubishi Electric MELSEC-Q QD75M User Manual

6 PLC PROGRAM USED FOR POSITIONING CONTROL

6.5.6 Stop program

Stop cause
Servo READY OFF
• Servo amplifier
power supply
OFF
Forced stop
• Servo alarm
• Emergency stop
of PLC CPU
Hardware stroke
Fatal stop limit upper/lower
(Stop group 1) limit error
occurrence
Error occurs in
PLC CPU
Emergency stop
PLC READY
(Stop group 2)
signal OFF
Error in test
mode
Axis error
detection (Error
Relatively safe
other than stop
stop
group 1 or 2)
(Stop group 3)
"Stop" input from
peripheral device
"Stop signal" ON
from external
Intentional stop device
(Stop group 3)
"Axis stop signal"
ON from PLC
CPU
The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external device is used to
stop the control.
Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program.
The process for stopping control is explained below.
Each control is stopped in the following cases.
(1) When each control is completed normally.
(2) When the Servo READY signal is turned OFF.
(3) When a PLC CPU error occurs.
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in QD75.
(6) When control is intentionally stopped
(Stop signal from PLC CPU turned ON, stop signal from peripheral devices)
The stop process for the above cases is shown below.
(Excluding item (1) above "When each control is completed normally".)
[1] Stop process
operation
M code
Stop ON
Md.26
axis signal
(
after stop
stopping
Each No During
axis change
Each No During
axis change
No
change
During
Turns
All axes
OFF
No
change
Each No During
axis change
During
Each No
(during
axis change
standing
Axis
OPR control
status
Machine
)
Fast OPR
OPR
control
after
control
Servo OFF or free run
error
Deceleration stop/sudden stop
Pr.37
(Select with "
error
selection".)
Delegation stop/sudden stop
Pr.38
(Select with "
error
selection".)
error
Deceleration stop/sudden stop
Pr.39
(Select with "
selection".)
stop
by)
6 - 70
Stop process
Major High-level
positioning positioning
Inching
control control
operation
Sudden stop group 1 sudden stop
Sudden stop group 2 sudden stop
Sudden stop group 3 sudden stop
MELSEC-Q
Manual control
Manual
JOG/
pulse
generator
operation
Deceleration
stop
Deceleration
stop
Deceleration
stop