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1 START AND STOP
1.2 Stop
Order of priority for stop process
The order of priority for the Simple Motion module stop process is as follows.
(Deceleration stop) < (Sudden stop) < (Servo OFF)
• If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0
(including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for
deceleration stop selection". (Page 269 Stop command processing for deceleration stop function)
• If the stop signal designated for sudden stop turns ON or a stop cause occurs during deceleration, the sudden stop process
will start from that point. However, if the sudden stop deceleration time is longer than the deceleration time, the deceleration
stop process will be continued even if a sudden stop cause occurs during the deceleration stop process.
Inputting the stop signal during deceleration
• Even if stop is input during deceleration (including automatic deceleration), the operation will stop at that deceleration
speed.
• If stop is input during deceleration for home position return, the operation will stop at that deceleration speed. If input at the
creep speed, the operation will stop immediately.
• If a stop cause, designated for sudden stop, occurs during deceleration, the sudden stop process will start from that point.
The sudden stop process during deceleration is carried out only when the sudden stop time is shorter than the deceleration
stop time.
Positioning control
during deceleration
Setting value of [Cd.42] Processing details
Manual control Independently of the [Cd.42] setting, a deceleration curve is re-processed from the speed at
stop cause occurrence.
Home position return control,
positioning control
0: Deceleration curve re-
processing
A deceleration curve is re-processed from the speed at stop cause occurrence. (Page 269
Deceleration curve re-processing)
1: Deceleration curve
continuation
The current deceleration curve is continued after stop cause occurrence. (Page 269
Deceleration curve continuation)
Positioning speed
Deceleration stop
process
Stop
Sudden stop cause
Sudden stop deceleration process
Positioning speed
Deceleration stop
process
Sudden stop cause
Deceleration stop process continues
Stop
Process for sudden stop
The process when a sudden stop cause occurs during deceleration stop is shown below.
(a) When deceleration stop time >
sudden stop deceleration time
(b) When deceleration stop time <
sudden stop deceleration time
Example
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