Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 174

Stop cause
■Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item
The "[Rq.380] Synchronous control start (R: M43440+n/
Q: M12000+n)" turned OFF.
The "[Rq.1140] Stop command (R: M34480+32n/Q:
*1
M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/
Q: M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axes servo ON command (R: M30042/
Q: M2042)" turned OFF.
The "[Rq.1155] Servo OFF command (R: M34495+32n/
Q: M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit.
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)"
turned OFF.
The main shaft gear/auxiliary shaft gear/speed change
gear 1/speed change gear 2 operation overflow error
*3
occurred.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's power supply turned OFF.
*1 The motor stops based on the deceleration time.
*2 The motor stops based on the rapid stop deceleration time.
*3 The motor stops based on the setting of "Deceleration processing on stop input" of parameter block.
*4 The setting of "S-curve ratio".
8 AUXILIARY AND APPLIED FUNCTIONS
172
8.3 Speed-Torque Control
Operation during speed control mode
The motor decelerates to speed "0" by setting value of parameter block set in "[Pr.448]
*1
Synchronous control parameter block No. (R: D42709+160n/Q: D15069+150n)"
switched to position control mode when "Zero speed (b3)" of "[Md.1022] Servo status 2 (R:
D32033+48n/Q: #8011+20n)" turns ON, and the operation stops.
*2
*3
The servo OFF is not executed during synchronous control. (The synchronous control does not
end.) When the synchronous control is ended and the mode is switched to position control mode,
the command status at the time becomes valid.
A minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur, and the motor
decelerates to speed "0" by setting value of parameter block set in "[Pr.448] Synchronous control
*3
parameter block No. (R: D42709+160n/Q: D15069+150n)"
control when "Zero speed (b3)" of "[Md.1022] Servo status 2 (R: D32033+48n/Q: #8011+20n)"
turns ON, and the operation stops.
The motor decelerates to speed "0" by setting value of parameter block set in "[Pr.448]
Synchronous control parameter block No. (R: D42709+160n/Q: D15069+150n)"
switched to position control when "Zero speed (b3)" of "[Md.1022] Servo status 2 (R: D32033+48n/
Q: #8011+20n)" turns ON, and the operation stops.
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready
(R: M32415+32n/Q: M2415+20n)" turns OFF) is executed. (While the servo amplifier is servo OFF,
even if the mode is switched to position control mode, the servo motor occurs to the free run. (The
operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.)
(The mode is to position control mode at the servo amplifier's power supply ON again.)
*4
. The mode is
*4
. The mode is switched to position
*4
. The mode is