Mitsubishi Electric Q172CPU Programming Manual page 144

6 DRIVE MODULE
(f) Error-time operation mode
The processings are shown below when major errors occurred with the
output modules per 1 system.
The following control is executed based on the parameter settings (Refer to
Table 6.2) of the synchronous encoder connected to the virtual main shaft.
1) Continuation
Even if a major error occurs with the output module, the output module
continues operation. At this time, the error detection signal
(M2407+20n) turns on, and the applicable error code is stored in the
major error code storage register.
Use the Motion SFC program for continue/stop of the system and the
output module operation at the major error occurrence.
2) Clutch OFF
If a major error occurs with the output module, the clutch within 1
system turns off and stops connected output modules.
At this time, the clutch ON/OFF command device does not turn off.
However, the clutch status storage device turns off regardless of the
clutch ON/OFF command device's ON/OFF status.
Operation continues at axes where no clutch is connected.
Use the Motion SFC program to stop the drive module.
Eliminate the error cause, then turn the clutch ON/OFF command
device off to on to resume the operation.
[During operation]
Synchronous encoder
Clutch ON
Clutch ON
[Operation at major error occurrence]
Major error occurrence
Clutch ON
Clutch OFF
Major error occurrence
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Clutch OFF
Stop
Operation
continuation
Clutch OFF