Справочник Пользователя для Mitsubishi Electronics QD77MS2
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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 as the stop program.
Create a program to turn ON the axis stop signal as the stop program.
Signal
QD77MS2
QD77MS4
QD77MS16
Axis stop signal
Y4, Y5
Y4, Y5, Y6, Y7
[Cd.180] Axis stop
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 Simple Motion module
(6) When control is intentionally stopped
(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 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.)
turned ON, etc.)
The stop process for the above cases is shown below.
(Excluding "(1) When each control is completed normally" above.)
(Excluding "(1) When each control is completed normally" above.)
[1] Stop
process
Stop cause
Stop
axis
M code
ON signal
after stop
Axis operation
status after
stopping
([Md.26])
Stop process
OPR control
Major
positioning
control
High-level
positioning
control
Manual control
Machine
OPR control
Fast OPR
control
JOG/
Inching
operation
Manual pulse
generator
operation
Forced stop
"Forced stop input
signal" OFF from an
external device
signal" OFF from an
external device
All
axes
axes
No change Servo OFF
Servo OFF or free run (The operation stops with dynamic
brake)
brake)
Servo READY OFF
• Servo amplifier
• Servo amplifier
power supply OFF Each
axis
No change
Servo amplifier
has not been
connected
has not been
connected
• Servo alarm
Error
• Forced stop input
to servo amplifier
Servo OFF
Fatal stop
(Stop group 1)
(Stop group 1)
Hardware stroke limit
upper/lower limit
error occurrence
upper/lower limit
error occurrence
Each
axis
axis
No change Error
Deceleration stop/sudden stop
(Select with "[Pr.37] Stop group 1 sudden stop selection".)
(Select with "[Pr.37] Stop group 1 sudden stop selection".)
Deceleration
stop
stop
Emergency stop
(Stop group 2)
(Stop group 2)
Error occurs in PLC
CPU
CPU
All
axes
axes
No change
Error
Delegation stop/sudden stop
(Select with "[Pr.38] Stop group 2 sudden stop selection".)
(Select with "[Pr.38] Stop group 2 sudden stop selection".)
Deceleration
stop
stop
PLC READY signal
OFF
OFF
Turns OFF
Error in test mode
No change
Relatively safe stop
(Stop group 3)
(Stop group 3)
Axis error detection
(Error other than stop
group 1 or 2)
(Error other than stop
group 1 or 2)
Each
axis
axis
No change Error
Deceleration stop/sudden stop
(Select with "[Pr.39] Stop group 3 sudden stop selection".)
(Select with "[Pr.39] Stop group 3 sudden stop selection".)
Deceleration
stop
stop
"Stop" input from GX
Works2
Works2
Intentional stop
(Stop group 3)
(Stop group 3)
"Axis stop signal" ON
from PLC CPU
from PLC CPU
Each
axis
axis
No change
Stopped
(Standby)
(Standby)
"Stop signal" of
external input signal
ON
external input signal
ON