Mitsubishi Electric MELSEC iQ-R Series User Manual page 148

Axis error detection
When an axis error other than the hardware stroke limit upper/lower limit error, the CPU module error, an error by the PLC
READY [Y0] OFF, the software stroke limit upper/lower limit error, and an axis error other than the drive unit error is detected,
the operation stops according to the process selected by AxisName.Pr.StopMode_General. In this case, the axis status
(AxisName.Md.AxisStatus) transits to
• Operation of the FB that received a stop cause by axis error occurrence
MCv_SpeedControl
CommandAborted
Error detection signal
AxisName.Md.
Stop cause
AxisStatus
(Example: Axis error)
AxisName.Md.
SetVelocity
MC_Stop (Forced stop)
In MC_Stop, the deceleration (Deceleration) is set and on-going instruction is decelerated to a stop.
When MC_Stop is executed, CommandAborted of on-going instruction turns TRUE and the axis status
(AxisName.Md.AxisStatus) transits to the "2: Stopping" status. While Execute is TRUE or while the speed does not reach 0,
the "2: Stopping" status is maintained. When Done turns TRUE and Execute turns FALSE at stop completion, the axis status
changes to the "4: Standstill" status.
■MCv_Stop execution during MC_SpeedControl
MCv_SpeedControl
CommandAborted
MC_Stop
AxisName.Md.
AxisStatus
AxisName.Md.
SetVelocity
4 START AND STOP
146
4.4 Stop
ErrorStop".
"1:
Execute
Error
ErrorID
0
6: ContinuousMotion
4: Standstill
Velocity
Execute
Error
Execute
Busy
Done
4: Standstill
6: ContinuousMotion
Velocity
0
Error code
1: ErrorStop
Time
2: Stopping 4: Standstill
Time