Mitsubishi Electric MELSEC-Q Series - Page 73

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3 POSITIONING DEDICATED SIGNALS
(2) Rapid stop command (M3201+20n) ...................... Command signal
(a) This command stops a starting axis rapidly from an external source and
becomes effective at leading edge of signal. (An axis for which the rapid
stop command is turning on cannot be started.)
Rapid stop
command
(M3201+20n)
Setting speed
OFF
ON
V
Rapid stop command
for specified axis
Control during rapid
stop command OFF
Stop
t
Rapid stop processing
(b) The details of stop processing when the rapid stop command turns on are
shown below.
Control details
during execution
Processing at the turning rapid stop command on
During control During deceleration stop processing
Position control
The axis decelerates to a rapid stop
deceleration time set in the parameter
block or servo program.
Deceleration processing is stopped and
rapid stop processing is executed.
Speed control ( )
Speed control ( )
JOG operation
Speed control with
fixed position stop
Manual pulse
generator operation
An immediate stop is executed without
deceleration processing.
—
Home position return
(1) The axis decelerates to a stop in the rapid stop deceleration time set in the
parameter block.
(2) A "stop error during home position return" error occurs and minor error (error
code: 203) is stored in the minor error storage register (D6+20n) for each axis.
Speed-torque control
QDS
The speed commanded to servo
amplifier is "0". The mode is switched to
position control mode when "Zero
speed" turns ON, and the operation
stops.
—
(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the
start accept flag (M2001+n) turns OFF, and the positioning complete signal
(M2401+20n) turns ON.)
POINT
If it is made to stop rapidly by turning on the rapid stop command (M3201+20n)
during a home position return, execute the home position return again.
If the rapid stop command turned on after the proximity dog ON in the proximity dog
method, execute the home position return after move to before the proximity dog
ON by the JOG operation or positioning.