Mitsubishi Electric MELSEC Q Series Programming Manual page 479

7 AUXILIARY AND APPLIED FUNCTIONS
(c) Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
Item
The stop command (M3200+20n) turned ON.
The rapid stop command (M3201+20n)
turned ON.
The external stop input turned ON.
The All axis servo ON (M2042) turned OFF.
The servo OFF command (M3215+20n)
turned ON.
The current value reached to software stroke
limit.
The position of motor reached to hardware
stroke limit
The PLC ready flag (M2000) turned OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's power supply turned
OFF.
Operation during speed control mode
The motor decelerates to speed "0" by setting value of
"command speed deceleration time". The mode is switched
to position control mode when "Zero speed (b3)" of servo
status2 (#8011+20) turns ON, and the operation stops.
The servo OFF is not executed during speed control mode.
The command status at that time becomes valid when the
mode is switched to position control mode.
A minor error (error code: 200, 207) and major error (error
code: 1101, 1102) will occur, and the motor decelerates to
speed "0" by setting value of "Command speed deceleration
time". The mode is switched to position control when "Zero
speed (b3)" of servo status2 (#8011+20n) turns ON, and
the operation stops.
The mode is switched to position control mode when the
servo OFF (The servo ready signal (M2415+20n) turns
OFF) is executed. (While the servo amplifier is servo OFF,
even if the mode is switched to position control mode, the
servo motor occurs to the free run. (The operation stops
with dynamic brake.))
The motor occurs to the free run. (The operation stops with
dynamic brake.)
(The mode is to position control mode at the servo
amplifier's power supply ON again.)
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