Order Of Priority For Stop Process - Mitsubishi Electric MELSEC iQ-R Series User Manual

Order of priority for stop process

This section describe processes when multiple stop causes occur.
The order of priority is as shown below based on the stop process of occurred stop cause.
Priority
1
2
When a deceleration stop cause occurs again during deceleration stop (including a stop cause and automatic deceleration),
the deceleration process differs depending on the following parameter settings for a single axis or an axes group.
• Single axis: AxisName.Pr.StopMode_DecelerationCurve
• Axes group: AxesGroupName.Pr.StopMode_DecelerationCurve
For AxisName.Pr.StopMode_DecelerationCurve/AxesGroupName.Pr.StopMode_DecelerationCurve, select one of the
following three types of operation.
Deceleration curve re-processing for big setting value of the deceleration
0: RapidCurve
A deceleration curve is re-processed when the deceleration setting value of the new stop cause is bigger (when the operation
can be stopped earlier).
Positioning speed
Deceleration stop processing
by new stop cause
(a) Deceleration speed by original stop cause
< Deceleration speed by new stop cause
Deceleration curve re-processing
1: OverrideCurve
A deceleration curve is re-processed from the deceleration of the new stop cause.
During single axis operation, the stop position can be overrun depending on the deceleration and the jerk setting. To avoid
overrun, set "1: ImmediateStop" in AxisName.Pr.OverrunOperation.
For operation details, refer to the following.
Page 143 Overrun at stop cause occurrence
Deceleration curve continuation
2: ContinueCurve
The current deceleration curve is continued even if multiple stop causes of deceleration stop occurred.
To stop immediately during deceleration, a stop cause whose stop process is the immediate stop needs to be occurred.
Ex.
Forced stop, Enable of MC_Power is FALSE, etc.
4 START AND STOP
142
4.4 Stop
Stop method
Immediate stop
Deceleration stop
New
stop cause
Stop
Deceleration stop processing
by original stop cause
Positioning speed
Deceleration stop processing
by original stop cause is continued.
(b) Deceleration speed by original stop cause
> Deceleration speed by new stop cause
New
stop cause
Stop
Deceleration stop processing
by new stop cause