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6.5.6 Stop program
Stop cause
"Forced stop input
signal" OFF from an
external device
Servo READY OFF
• Servo amplifier
Forced stop
power supply OFF Each
• Servo alarm
• Forced stop input
to servo amplifier
Hardware stroke limit
Fatal stop
upper/lower limit
(Stop group 1)
error occurrence
Error occurs in PLC
CPU
Emergency stop
PLC READY signal
(Stop group 2)
OFF
Error in test mode
Axis error detection
Relatively safe stop
(Error other than stop
(Stop group 3)
group 1 or 2)
"Axis stop signal" ON
from PLC CPU
Intentional stop
(Stop group 3)
"Stop" input from GX
Works2
The axis stop signal or stop signal from external input signal is used to stop the control.
Create a program to turn ON the axis stop signal as the stop program.
Signal
Axis stop signal
Each control is stopped in the following cases.
(1) When each control is completed normally
(2) When the servo READY signal is turned OFF
(3) When a PLC CPU error occurs
(4) When the PLC READY signal is turned OFF
(5) When an error occurs in the Simple Motion module
(6) When control is intentionally stopped (Stop signal from PLC CPU turned ON, etc.)
The outline for the stop process in above cases is shown below. (Excluding "(1) When
each control is completed normally" above.)
Refer to Section 12.1 "Speed-torque control" for the stop process during the speed
control mode, torque control mode and continuous operation to torque control mode.
[1] Stop process
Axis operation
M code
Stop
ON signal
axis
after stop
All
No change Servo OFF
axes
Servo amplifier
has not been
connected
No change
axis
Error
Servo OFF
Each
No change Error
axis
No change
All
Error
axes
Turns OFF
No change
Each
No change Error
axis
Each
Stopped
No change
axis
(Standby)
Chapter 6 Sequence Program Used for Positioning Control
LD77MS2
Y4, Y5
Y4, Y5, Y6, Y7
OPR control
status after
stopping
Machine
Fast OPR
OPR control
control
(
)
Md.26
Immediate stop
For the stop method of the servo amplifier, refer to each servo
amplifier instruction manual.
Deceleration stop/sudden stop
"
(Select with
Pr.37
Delegation stop/sudden stop
"
(Select with
Pr.38
Deceleration stop/sudden stop
"
(Select with
Pr.39
6 - 73
LD77MS4
LD77MS16
Axis stop
Cd.180
Stop process
Major
High-level
positioning
positioning
control
control
Stop group 1 sudden stop selection
Stop group 2 sudden stop selection
Stop group 3 sudden stop selection
Manual control
JOG/
Manual pulse
Inching
generator
operation
operation
Deceleration
"
.)
stop
Deceleration
"
.)
stop
Deceleration
"
.)
stop
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