Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 28

Deceleration stop/rapid stop
The output axis stops with deceleration according to the stop and rapid stop conditions. The deceleration time and
deceleration time for rapid stop are according to the parameter block conditions specified by "[Pr.448] Synchronous control
deceleration time parameter block No. (R: D42709+160n/Q: D15069+150n)".
When the synchronous control ends as the deceleration stop begins, the output axis monitor device is not updated, and only
the monitor device for each axis is updated.
Deceleration stop/rapid stop cause
[Rq.380] Synchronous control start
(R: M43440+n/Q: M12000+n)
[St.380] Synchronous control
(R: M40000+n/Q: M10880+n)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[Md.407] Cam axis current value per cycle
(R: D39132+32n, D39133+32n/
Q: D13612+30n, D13613+30n)
[Md.20] Feed current value
(R: D32000+48n, D32001+48n/
Q: D0+20n, D1+20n)
[Md.28] Command speed
(R: D32024+48n, D32025+48n/
Q: #8004+20n, #8005+20n)
• Since the synchronous control ends by the output axis stop, the current feed value during deceleration stop
draws the path regardless of the cam operation. Therefore, the input axis must be stopped when the output
axis is in deceleration stop/rapid stop synchronizing with the input axis.
• Since the synchronous control ends by the output axis stop, [Rq.380] Synchronous control start (R:
M43440+n/Q: M12000+n) ON to OFF during output axis deceleration is invalid. During output axis stop, use
the rapid stop command and forced stop.
2 STARTING UP THE SYSTEM
26
2.3 Stop Operation of Output Axis
Analyzing Synchronous control
t
t
t
Deceleration stop/
rapid stop