Mitsubishi Electric MELSEC iQ-R Series User Manual page 32

Order of priority for stop process
The order of priority for the Motion module stop process is as follows.
(Deceleration stop) < (Rapid stop) < (Immediate stop)
• If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0
(including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for
deceleration stop selection". (Page 275 Stop command processing for deceleration stop function)
Positioning control
during deceleration
Manual control
Home position return control
positioning control
*1 When using the driver homing method, the stop processing follows the specifications of the servo amplifier.
For details, refer to the manual of the servo amplifier to use.
MR-J5(W)-G: MR-J5 User's Manual (Function)
• If the stop signal designated for rapid stop turns ON or a stop cause occurs during deceleration, the rapid stop process will
start from that point. However, if the rapid stop deceleration time is longer than the deceleration time, the deceleration stop
process will be continued even if a rapid stop cause occurs during the deceleration stop process.
Example
The process when a rapid stop cause occurs during deceleration stop is shown below.
Positioning speed
Rapid stop deceleration process
(a) When deceleration stop time >
rapid stop deceleration time
Inputting the stop signal during deceleration
• Even if stop is input during deceleration (including automatic deceleration), the operation will stop at that deceleration
speed.
• If stop is input during deceleration for home position return, the operation will stop at that deceleration speed. If input at the
creep speed, the operation will stop immediately. When the driver home position return method is used, the stop process is
performed according to the specification of the servo amplifier. For details, refer to the manual of the servo amplifier to be
used. MR-J5(W)-G: MR-J5 User's Manual (Function)
• If a stop cause, designated for rapid stop, occurs during deceleration, the rapid stop process will start from that point. The
rapid stop process during deceleration is carried out only when the rapid stop time is shorter than the deceleration stop
time.
1 START AND STOP
30
1.2 Stop
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Setting value of [Cd.42]

*1
, 0: Deceleration curve re-
processing
1: Deceleration curve
continuation
Deceleration stop
process
Rapid stop cause
Stop
search engine
Processing details
Independently of the [Cd.42] setting, a deceleration curve is re-processed from the speed at
stop cause occurrence.
A deceleration curve is re-processed from the speed at stop cause occurrence. (Page
275 Deceleration curve re-processing)
The current deceleration curve is continued after stop cause occurrence. (Page 275
Deceleration curve continuation)
Positioning speed
Deceleration stop process continues
(b) When deceleration stop time <
rapid stop deceleration time
Deceleration stop
process
Rapid stop cause
Stop
Process for rapid stop