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Chapter 12 Expansion Control
Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is
shown below.
Item Operation during continuous operation to torque control mode
Axis stop [Y4 to Y7] turned ON.
QD77MS2 QD77MS4
The speed limit value commanded to servo amplifier is "0"
regardless of the setting value of "[Cd.147] Speed limit value at
continuous operation to torque control mode". The mode
switches to the position control mode when "Zero speed" of
"[Md.108] Servo status" turns ON, and the operation
immediately stops. (Deceleration processing is not executed.)
The value of command torque is not changed. It might take time
to reach the speed "0" depending on the current torque
command value.
"[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 continuous operation
to torque 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.)
*1
When the operation immediately stops, the motor may start
hunting depending on the motor speed. Therefore, be sure not
to reach the limit in high speed and not to turn OFF the PLC
READY.
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.
*1
(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.)
1: When the mode has switched from the speed control mode to the continuous operation
to torque control mode, the mode switches to the position control mode after switching
the speed control mode once. Therefore, it takes the following time to switch to the
position control mode.
Switching time for the speed control mode + Switching time for the position control
mode.