Mitsubishi Electric MELSEC iQ-R Series User Manual page 30

Stop cause
Forced stop
Forced stop
Fatal stop
(Stop group 1)
Emergency stop
(Stop group 2)
Relatively safe stop
(Stop group 3)
Intentional stop
(Stop group 3)
*1 If an error occurs in a positioning data due to an invalid setting value, when the continuous positioning control uses multiple positioning
data successively, it automatically decelerates at the previous positioning data. It does not stop rapidly even the setting value is rapid
stop in stop group 3. If any of the following error occurs, the operation is performed up to the positioning data immediately before the
positioning data where an error occurred, and then stops immediately.
No command speed (error code: 1B13H, 1B14H)
Outside linear movement amount range (error code: 1B15H, 1B16H)
Large arc error deviation (error code: 1B17H)
Software stroke limit + (error code: 1B18H, 1B19H)
Software stroke limit - (error code: 1B1AH, 1B1BH)
Sub point setting error (error code: 1B27H, 1B28H, 1B29H, 1B2AH, 1B37H)
End point setting error (error code: 1B2BH, 1B2CH)
Center point setting error (error code: 1B2DH, 1B2EH, 1B2FH)
Outside radius range (error code: 1B32H)
Illegal setting of ABS direction in unit of degree (error code: 1AA4H, 1AA5H)
*2 When using the driver homing method, the stop processing follows the specifications of the servo amplifier.
For details, refer to the manual of the servo amplifier to use.
MR-J5(W)-G: MR-J5 User's Manual (Function)
*3 It is recommended to control the stop signal after checking the condition while the axis is BUSY, such as incorporating the fact that the
BUSY signal is ON as the interlock condition. The error "Stop signal ON at start" (error code: 1A08H) can be prevented depending on
the timing.
Provide the emergency stop circuits outside the servo system to prevent cases where danger may result from
abnormal operation of the overall system in the event of an external power supply fault or servo system
failure.
1 START AND STOP
28
1.2 Stop
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Forced stop input to the Motion
module
Servo READY OFF
• Servo amplifier power supply
OFF
• Servo alarm
• Forced stop input to servo
amplifier
Hardware stroke limit upper/lower
limit error occurrence
Error occurs in a CPU module
PLC READY signal [Y0] OFF
Axis error detection (Error other
*1
than stop group 1 or 2)
"Axis stop signal" ON from a CPU
*3
module
search engine
Stop process
Home position return Major
control positioning
control
Machine Fast home
home position
position return
return control
*2
control
Immediate stop
For the stop method of the servo amplifier, refer to each servo amplifier manual.
Deceleration stop/rapid stop
(Select with "[Pr.37] Stop group 1 rapid stop selection".)
Deceleration stop/rapid stop
(Select with "[Pr.38] Stop group 2 rapid stop selection".)
Deceleration stop/rapid stop
(Select with "[Pr.39] Stop group 3 rapid stop selection".)
High-level Manual control
positioning
control
JOG/ Manual
Inching pulse
operation generator
operation

Deceleration
stop
Deceleration
stop
Deceleration
stop