Mitsubishi Electric A173UHCPU Programming Manual page 160

7. POSITIONING CONTROL
No. Stop Cause
1 External STOP input ON
Stop command
2
+
M3200 20n ON
Rapid stop command
3
+
M3201 20n ON
4 External FLS input OFF
5 External RLS input OFF
Servo error detect
6
+
M2408 20n ON
7 PLC ready M2000 OFF
Emergency stop from
(Note–2)
8 exterior , BREAK
key pressed
9 Servo system CPU stop
10 Servo system reset
PCPU WDT error
11
12 SCPU WDT error
Servo system CPU
13
power off
14 Servo amplifier power off Individual
Speed changed to zero
15
(Note–1) : Emergency stop due to H/W
(Note–2) : Test mode
(Note–3) : Applies to all axes set to speed = 0 in servo program.
(c) Stop commands and stop causes
Some stop commands and stop causes affect individual axis and others
affect all axes.
However, during interpolation control, stop commands and stop causes
which affect individual axis also stop the interpolation axis.
For example, both Axis 1 and Axis 2 stop after input of a stop command or
stop cause during interpolation control of Axis 1 and Axis 2.
Individual/All Positio-
Axes
ning
Control
Process 1 or Process 2
According to deceleration processing on
STOP input parameter in parameter block.
Process 1
Individual Process 2
Process 1 or Process 2
According to deceleration processing on
STOP input parameter in parameter block.
Process 3
Process 1
Process 2
Process 1
All Process 3
Process 3
Process 1
Process 3
Process 3
(Note–
Individual Process 1
3)
Stop
Speed Jog
Zeroing
Control Operation
(Note–1)
(Note–1)
(Note–1)
(Note–1)
7 − 13
Manual
Error Processing
Pulse
Generator
Serious error during
zeroing only
Process 3

M9073 (WDT error)
ON


Serious error at start-
up (no servo)
