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Chapter 6 Sequence Program Used for Positioning Control
[3] Order of priority for stop process
The order of priority for the Simple Motion module stop process is as follows.
Deceleration stop < Sudden stop < Servo OFF
(1) If the deceleration stop command ON (stop signal ON) or deceleration stop
cause occurs during deceleration to speed 0 (including automatic
deceleration), operation changes depending on the setting of "[Cd.42] Stop
command processing for deceleration stop selection".
(a) Manual control
Independently of the [Cd.42] setting, a deceleration curve is re-processed
from the speed at stop cause occurrence.
(b) OPR control, positioning control
When [Cd.42] = 0 (deceleration curve re-processing):
A deceleration curve is re-processed from the speed at stop cause
occurrence.
When [Cd.42] = 1 (deceleration curve continuation):
The current deceleration curve is continued after stop cause occurrence.
(For details, refer to Section 13.7.9 "Stop command processing for
deceleration stop function".)
(2) If the stop signal designated for sudden stop turns ON or a stop cause occurs
during deceleration, the sudden stop process will start from that point.
However, if the sudden stop deceleration time is longer than the deceleration
time, the deceleration stop process will be continued even if a sudden stop
cause occurs during the deceleration stop process.
Positioning speed
Deceleration
stop process
Stop
Sudden
stop cause
Sudden stop deceleration process
Deceleration stop process continues Process for sudden stop
Positioning speed
Deceleration
stop process
Stop
Sudden
stop cause
Example
The process when a sudden stop cause occurs during deceleration stop is shown below.
a) When deceleration stop time > sudden stop deceleration time (b) When deceleration stop time < sudden stop deceleration time