Mitsubishi Electric Q172CPU Programming Manual page 130

6 DRIVE MODULE
(6) Error time operation mode
The processings are shown below when major errors occurred with the output
modules per 1 system.
The following control is executed based on the parameter settings (Refer to
Section 6.1.2) of the virtual servomotor connected to the virtual main shaft.
(a) Continuation
Even if a major error occurs with the output module, the output module
continues operation. At this time, the error detection signal (M2407+20n)
turns on, and the applicable error code is stored in the major error code
storage register.
Use the Motion SFC program for continue/stop of the system and the output
module operation at the major error occurrence.
(b) Clutch OFF
If a major error occurs with the output module, the clutch within 1 system
turns off and stops connected output modules. (The smoothing processing is
executed by the clutch setting.)
At this time, the clutch ON/OFF command device does not turn off.
However, the clutch status storage device turns off regardless of the clutch
ON/OFF command device's ON/OFF status.
Operation continues at axes where no clutch is connected.
Use the Motion SFC program to stop the drive module.
Eliminate the error cause, then turn the clutch ON/OFF command device off
to on to resume the operation.
[During operation]
Virtual servomotor
Clutch ON
Clutch ON
[Operation at major error occurrence]
Major error occurrence
Clutch ON
Clutch OFF
Major error occurrence
6 - 5
Clutch OFF
Stop
Operation
continuation
Clutch OFF