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7 EXPANSION CONTROL
7.1 Speed-torque Control
■Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
Item Operation during speed control mode
"[Cd.180] Axis stop" turned ON. The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time
at speed control mode". The mode switches to the position control mode when "Zero speed" of
"[Md.119] Servo status2" turns ON, and the operation stops.
Stop signal of "[Cd.44] External input signal operation
device (Axis 1 to 16)" turned ON.
All axis servo ON [Y1] turned OFF. The servo OFF is not executed during the speed control mode. The command status when the
mode is switched to the position control mode becomes valid.
"[Cd.100] Servo OFF command" turned ON.
The current value reached the software stroke limit. An error (error code: 1900H, 1904H to 1907H, 1993H, 1995H) occurs. The mode switches to the
position control mode at the current position, and the operation immediately stops. (Deceleration
processing is not executed.)
The position of the motor reached the hardware stroke limit
PLC READY [Y0] turned OFF.
The forced stop input to Simple Motion module. The mode switches to the position control mode when the servo OFF (Servo ON of "[Md.108]
Servo status1" turns OFF) is executed. (While the servo amplifier is servo OFF, even if the mode
is switched to position control mode, the servomotor occurs to the free run. (The operation stops
with dynamic brake.))
The emergency stop input to servo amplifier.
The servo error occurred.
The servo amplifier's power supply turned OFF. The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode is set to
the position control mode at the servo amplifier's power supply ON again.)
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