Mitsubishi Electric MELSEC-LD77MS2 User Manual page 688

Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is
shown below.
Item
Axis stop [Y4 to Y7] turned ON.
LD77MS2 LD77MS4
" Axis stop" turned ON.
Cd.180
LD77MS16
Stop signal of "
External input
Cd.44
" turned ON.
signal operation device
All axis servo ON [Y1] turned OFF.
"
Servo OFF command
Cd.100
ON.
The current value reached the software
stroke limit.
The position of the motor reached the
hardware stroke limit.
PLC READY [Y0] turned OFF.
The forced stop input to Simple Motion
module.
The emergency stop input to servo
amplifier.
The servo alarm occurred.
The servo amplifier's power supply
turned OFF.
1: When the mode has switched from the speed control mode to the continuous operation
to torque control mode, the mode switches to the position control mode after switching
the speed control mode once. Therefore, it takes the following time to switch to the
position control mode.
Switching time for the speed control mode + Switching time for the position control
mode
Operation during continuous operation to torque control mode
The speed limit value commanded to servo amplifier is "0"
regardless of the setting value of "
continuous operation to torque control mode
the position control mode when "Zero speed" of "
" turns ON, and the operation immediately stops.
status
(Deceleration processing is not executed.)
The value of command torque is not changed. It might take time
to reach the speed "0" depending on the current torque
command value.
The servo OFF is not executed during the continuous operation
" turned
to torque control mode. The command status when the mode is
switched to the position control mode becomes valid.
An error (error code: 507, 508, 104, 105, or 101) occurs. The
mode switches to the position control mode at the current
position, and the operation immediately stops. (Deceleration
processing is not executed.)
When the operation immediately stops, the motor may start
hunting depending on the motor speed. Therefore, be sure not
to reach the limit in high speed and not to turn OFF the PLC
READY.
The mode is switches to the position control mode when the
servo OFF (Servo ON of "
*1
executed.
(While the servo amplifier is servo OFF, even if the mode is
switched to position control mode, the servomotor immediately
stops.
The motor immediately stops. (The mode is set to the position
control mode at the servo amplifier's power supply ON again.)
12 - 32
Chapter 12 Expansion Control
Speed limit value at
Cd.147
". The mode switches to
Md.108
*1
" turns OFF) is
Servo status
Md.108
Servo