Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 175

■Stop cause during torque control mode
The operation for stop cause during torque control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item
The "[Rq.380] Synchronous control start (R: M43440+n/
Q: M12000+n)" turned OFF.
The "[Rq.1140] Stop command (R: M34480+32n/Q:
M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/
Q: M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axes servo ON command (R: M30042/
Q: M2042)" turned OFF.
The "[Rq.1155] Servo OFF command (R: M34495+32n/
Q: M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit.
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)"
turned OFF.
The main shaft gear/auxiliary shaft gear/speed change
gear 1/speed change gear 2 operation overflow error
occurred.
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.
■Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is shown below.
The synchronous control ends by the stop cause occurrence.
Item
The "[Rq.380] Synchronous control start (R: M43440+n/
Q: M12000+n)" turned OFF.
The "[Rq.1140] Stop command (R: M34480+32n/Q:
M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/
Q: M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axes servo ON command (R: M30042/
Q: M2042)" turned OFF.
The "[Rq.1155] Servo OFF command (R: M34495+32n/
Q: M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit.
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)"
turned OFF.
The main shaft gear/auxiliary shaft gear/speed change
gear 1/speed change gear 2 operation overflow error
occurred.
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 torque control mode
The mode is switched to position control mode when the speed limit command value is set to "0"
and "Zero speed (b3)" of "[Md.1022] Servo status 2 (R: D32033+48n/Q: #8011+20n)" turns ON,
and the operation stops immediately.
(Deceleration processing is not executed.) The value of command torque is not changed. It might
take time to reach at the speed "0" depending on the current torque command value.
The servo OFF is not executed during synchronous control. (The synchronous control does not
end.) When the synchronous control is ended valid when and the mode is switched to position
control mode, the command status at the time becomes valid.
The minor error (error code: 1900H, 1905H, 1907H ,1993H, 1995H) will occur. The mode is
switched to position control mode at current position, and the operation immediately stops.
(Deceleration processing is not executed.) When the operation immediately stops, the motor will
start hunting depending on the motor speed. Therefore, be sure not to reach to limit in high speed
or do not turn OFF the PLC READY.
The mode is switched to position control mode at current position, and the operation immediately
stops. (Deceleration processing is not executed.)
When the operation immediately stops, the motor will start hunting depending on the motor speed.
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready
(R: M32415+32n/Q: 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.)
Operation during continuous operation to torque control mode
The mode is switched to position control mode when the speed limit command value is set to "0"
and "Zero speed (b3)" of "[Md.1022] Servo status 2 (R: D32033+48n/Q: #8011+20n)" turns ON,
and the operation stops immediately.
(Deceleration processing is not executed.) The value of command torque is not changed. It might
take time to reach at the speed "0" depending on the current torque command value.
The servo OFF is not executed during synchronous control. (The synchronous control does not
end.) When the synchronous control is ended and the mode is switched to position control mode,
the command status at the time becomes valid.
The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The mode is
switched to position control mode at current position, and the operation immediately stops.
(Deceleration processing is not executed.)When the operation immediately stops, the motor will
start hunting depending on the motor speed. Therefore, be sure not to reach to limit in high speed
or do not turn OFF the PLC READY.
The mode is switched to position control mode at current position, and the operation immediately
stops. (Deceleration processing is not executed.)
When the operation immediately stops, the motor will start hunting depending on the motor speed.
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready
signal (R: M32415+32n/Q: 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.)
8 AUXILIARY AND APPLIED FUNCTIONS
8.3 Speed-Torque Control
8
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