Mitsubishi Electric MELSEC-Q Series - Stop Program

6 - 73
Chapter 6 Sequence Program Used for Positioning Control
6.5.6 Stop program
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
Stop cause
Stop
axis
M code
ON signal
after stop
Axis operation
status after
stopping
([Md.26])
Stop process
HPR control
Major
positioning
control
High-level
positioning
control
Manual control
Machine
HPR control
Fast HPR
control
JOG/
Inching
operation
Manual pulse
generator
operation
Forced stop
Forced stop input to
Simple Motion
module
All
axes
No change Servo OFF
Immediate stop
For the stop method of the servo amplifier, refer to each servo
amplifier instruction manual.
Servo READY OFF
• Servo amplifier
power supply OFF
Each
axis
No change
Servo amplifier
has not been
connected
• Servo alarm Error
• Forced stop input
to servo amplifier
Servo OFF
Fatal stop
(Stop group 1)
Hardware stroke limit
upper/lower limit
error occurrence
Each
axis
No change Error
Deceleration stop/rapid stop
(Select with "[Pr.37] Stop group 1 rapid stop selection".)
Deceleration
stop
Emergency stop
(Stop group 2)
Error occurs in PLC
CPU
All
axes
No change
Error
Delegation stop/rapid stop
(Select with "[Pr.38] Stop group 2 rapid stop selection".)
Deceleration
stop
PLC READY signal
OFF
Turns OFF
Error in test mode No change
Relatively safe stop
(Stop group 3)
Axis error detection
(Error other than stop
group 1 or 2)
Each
axis
No change Error
Deceleration stop/rapid stop
(Select with "[Pr.39] Stop group 3 rapid stop selection".)
Deceleration
stop
Intentional stop
(Stop group 3)
"Axis stop signal" ON
from PLC CPU
Each
axis
No change
Stopped
(Standby)
"Stop signal" of
external input signal
ON
"Stop" input from GX
Works2