Mitsubishi Electric Q172CPU Programming Manual page 236

9 REAL/VIRTUAL MODE SWITCHING AND STOP/RE-START
Error set Output module operation
• Deceleration stop based on the
smoothing time constant.
—
• Deceleration stop based on the
smoothing time constant.
—
• Servo OFF state after deceleration
stop based on the smoothing time
constant.
—
Minor error • Deceleration stop based on the
(200) set smoothing time constant.
(virtual axis)
Minor error • Deceleration stop based on the
(200) set smoothing time constant.
(virtual axis)
• Deceleration stop based on the
smoothing time constant.
—
• Deceleration stop based on the
smoothing time constant.
—
• Servo OFF state after immediate
stop.
—
• Servo OFF state after immediate
stop for error axis only.
Applicable • All other axes are synchronized with
output the virtual axis, and are then
module stopped.
(Servo error,
Servo error
code set)
• Servo OFF state after immediate
M9073
stop.
(PCPU WDT
error) ON
• Servo OFF state after immediate
stop.
—
• Servo OFF state after immediate
stop.
—
• Deceleration stop based on the
Applicable
smoothing time constant.
error set
• Deceleration stop based on the
Applicable
smoothing time constant.
error set
Operation continuation
enabled ( )/
disabled ( )
• Continuous operation is possible by turning the stop command off (not
necessary when on) and starting.
• Continuous operation is possible by turning the stop command off (not
necessary when on) and starting.
• Continuous operation is possible by turning the all clutch off
servo on
(However, when the servomotor does not operate during the servo OFF.
Also, the clutch OFF/ON is switched as required by the user side.)
• For synchronous encoder axes, switch to the real mode, then back to the
virtual mode to resume inputs.
• Operation is possible by executing the real to virtual mode switching
request (M2043 ON), after turning the PLC ready flag (M2000) on.
• Operation is possible by executing the real to virtual mode switching
request (M2043 ON), after starting the Motion CPU.
• Continuous operation is possible by starting after stop.
• For synchronous encoder axes, switch to the real mode, then back to the
virtual mode to resume inputs.
• Continuous operation is possible by starting after stop.
• Continuous operation is not possible due to a synchronization
discrepancy between the virtual axis and output module, and stop.
• After release the forced stop, re-align the output module in the real
mode, switch the synchronization discrepancy warning (M2046) OFF,
then switch back to the virtual mode to resume operation.
• After executing a servo error reset in the real mode, re-align the axes,
switch the synchronization discrepancy warning (M2046) OFF, then
switch back to the virtual mode to resume operation.
• Continuous operation is not possible due to a synchronization
discrepancy between the virtual axis and output module, and stop.
• After resetting the Motion CPU, re-align the output module, then switch to
the virtual mode to resume operation.
• Continuous operation is not possible due to a synchronization
discrepancy between the virtual axis and output module, and stop.
• After resetting the Motion CPU, re-align the output module, then switch to
the virtual mode to resume operation.
• Continuous operation is not possible due to a synchronization
discrepancy between the virtual axis and output module, and stop.
• After resetting the Motion CPU, re-align the output module, then switch to
the virtual mode to resume operation.
• Operation is possible by release the error cause.
• Return to the real mode, re-align the axes, then switch to the virtual mode
to resume operation.
9 - 11
Re-start operation after stop
clutch on.
all axes