Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 43

[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)
• This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An
axis for which the rapid stop command is turning on cannot be started.)
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n) OFF
V
Setting speed
• The details of stop processing when the rapid stop command turns on are shown below.
Control details during Processing at the turning rapid stop command on
execution
During control
Position control The axis decelerates to a rapid stop deceleration time set in
the parameter block or servo program.
Speed control ()
Speed control ()
JOG operation
Speed control with fixed
position stop
Manual pulse generator An immediate stop is executed without deceleration
operation processing.
Home position return • The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.
• A "stop error during home position return" occurs and the minor error (error code:192DH) is stored in the "[Md.1004] Error
code (R: D32007+48n/Q: D7+20n" for each axis.
Speed-torque control The speed commanded to servo amplifier is "0". The mode is
switched to position control mode when "Zero speed" turns
Pressure control
ON, and the operation stops.
Machine program operation This decelerates to a stop in the deceleration time set in the
parameter block or machine positioning data.
Machine JOG operation
• The rapid stop command in a dwell time is invalid. (After a dwell time, the "[St.1040] Start accept flag (R: M30080+n/Q:
M2001+n)" turns OFF, and the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON.)
If it is made to stop rapidly by turning on the "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" during a home position return, execute the home position return again.
If the rapid stop command turned on after the proximity dog ON in the proximity dog method, execute the
home position return after move to before the proximity dog ON by the JOG operation or positioning.
[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q: M3202+20n)
JOG operation to the address increase direction is executed while "[Rq.1142] Forward rotation JOG start command (R:
M34482+32n/Q: M3202+20n)" is turning on. When "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Take an interlock so that the "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" and "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)" may
not turn on simultaneously.
ON
Rapid stop command
for specified axis
Stop
Rapid stop processing
During deceleration stop processing
Deceleration processing is stopped and rapid stop processing
is executed.


Deceleration processing is stopped and rapid stop processing
is executed.
2 POSITIONING DEDICATED SIGNALS
Control during rapid
stop command OFF
t
2.1 Internal Relays
2
41