Mitsubishi Electric MELSEC Q Series Programming Manual page 73

3 POSITIONING DEDICATED SIGNALS
(2) Rapid stop command (M3201+20n) ...................... Command signal
(a) 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.)
Rapid stop
OFF
command
(M3201+20n)
V
Setting speed
(b) The details of stop processing when the rapid stop command turns on are
shown below.
Control details
during execution
Position control
Speed control ( )
The axis decelerates to a rapid stop
Speed control ( )
deceleration time set in the parameter
JOG operation
block or servo program.
Speed control with
fixed position stop
Manual pulse An immediate stop is executed without
generator operation deceleration processing.
(1) The axis decelerates to a stop in the rapid stop deceleration time set in the
parameter block.
Home position return
(2) A "stop error during home position return" error occurs and minor error (error
code: 203) is stored in the minor error storage register (D6+20n) for each axis.
The speed commanded to servo
amplifier is "0". The mode is switched to
Speed-torque control
position control mode when "Zero
QDS
speed" turns ON, and the operation
stops.
(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the
start accept flag (M2001+n) turns OFF, and the positioning complete signal
(M2401+20n) turns ON.)
POINT
If it is made to stop rapidly by turning on the rapid stop command (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.
Rapid stop processing
Processing at the turning rapid stop command on
During control
3 - 24
ON
Rapid stop command
for specified axis
Control during rapid
stop command OFF
Stop
t
During deceleration stop processing
Deceleration processing is stopped and
rapid stop processing is executed.
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