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Chapter 12 Expansion Control
Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
Item Operation during speed control mode
Axis stop [Y4 to Y7] turned ON.
QD77MS2 QD77MS4
The motor decelerates to speed "0" according to
the setting value of "[Cd.142] Deceleration time at
speed control mode". The mode switches to the
position control mode when "Zero speed" of
"[Md.108] Servo status" turns ON, and the
operation stops.
"[Cd.180] Axis stop" turned ON.
QD77MS16
Stop signal of "[Cd.44] External input signal
operation device" turned ON.
All axis servo ON [Y1] turned OFF.
The servo OFF is not executed during the speed
control mode. The command status when the mode
is switched to the position control mode becomes
valid.
"[Cd.100] Servo OFF command" turned ON.
The current value reached the software stroke limit.
An error (error code: 507, 508, 104, 105, or 101)
occurs. The mode switches to the position control
mode at the current position, and the operation
immediately stops. (Deceleration processing is not
executed.)
The position of the motor reached the hardware
stroke limit.
PLC READY [Y0] turned OFF.
The forced stop input to Simple Motion module.
The mode switches to the position control mode
when the servo OFF (Servo ON of "[Md.108] Servo
status" turns OFF) is executed. (While the servo
amplifier is servo OFF, even if the mode is switched
to position control mode, the servomotor occurs to
the free run. (The operation stops with dynamic
brake.))
The emergency stop input to servo amplifier.
The servo error occurred.
The servo amplifier's power supply turned OFF.
The motor occurs to the free run. (The operation
stops with dynamic brake.)
(The mode is set to the position control mode at the
servo amplifier's power supply ON again.)