Stop Program - Mitsubishi Electric MELSEC-Q Series User Manual

6.5.6 Stop program

Stop cause
Forced stop input to
Simple Motion
module
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
"Stop signal" of
Intentional stop
external input signal
(Stop group 3)
ON
"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 ([Cd.180]) as the stop program.
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, "Stop signal" of external input signal
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 and 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
HPR control
status after
stopping
Machine Fast HPR
HPR control control
([Md.26])
Immediate stop
For the stop method of the servo amplifier, refer to each servo
amplifier instruction manual.
Deceleration stop/rapid stop
(Select with "[Pr.37] Stop group 1 rapid stop selection".)
Delegation stop/rapid stop
(Select with "[Pr.38] Stop group 2 rapid stop selection".)
Deceleration stop/rapid stop
(Select with "[Pr.39] Stop group 3 rapid stop selection".)
6 - 73
Stop process
Manual control
Major High-level
JOG/
positioning positioning
Inching
control control
operation
Manual pulse
generator
operation
Deceleration
stop
Deceleration
stop
Deceleration
stop