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Chapter 1 Product Outline
1.2.3 Outline of stopping
Each control is stopped in the following cases.
(1) When each control is completed normally.
(2) When the servo amplifier power supply OFF.
(3) When a PLC CPU error occurs.
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in the Simple Motion module.
(6) When control is intentionally stopped (Stop signal from PLC CPU turned ON or
Stop signal of external input signal turned ON, etc.).
The outline for the stopping process in these cases is shown below. (Excluding (1) for
normal stopping.)
Refer to Section 12.1 "Speed-torque control" for the stop processing during the speed
control mode, torque control mode or continuous operation to torque control mode.
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
All
axes
No
change
Servo
OFF
Servo OFF or free run
(The operation stops with dynamic brake.)
Servo
READY OFF
• Servo
amplifier
power supply
OFF
Each
axis
No
change
Servo
amplifier
has not been
connected
• Servo alarm
Error
• Forced stop
input to servo
amplifier
Servo
OFF
Fatal stop
(Stop group 1)
Hardware
stroke limit
upper/lower
limit error
occurrence
Each
axis
No
change
Error
Deceleration stop/sudden stop
(Select with "[Pr.37] Stop group 1 sudden stop
selection".)
Deceleration
stop
Emergency
stop
(Stop group 2)
Error occurs
in PLC CPU
All
axes
No
change
Error
Deceleration stop/sudden stop
(Select with "[Pr.38] Stop group 2 sudden stop
selection".)
Deceleration
stop
PLC READY
signal OFF
Turns
OFF
Error in test
mode
No
change