Mitsubishi Electric MELSEC iQ-R Series User Manual page 147

■Axis state transition
The axis state changes based on the input combination of Enable and ServoON of MC_Power.
Axis status before input Input
operation
Enable
(AxisName.Md.AxisStat
us)
4: Standstill TRUE
0: Disabled
FALSE
1: ErrorStop TRUE
FALSE
Other than above TRUE
FALSE
*1 It is "0: Disabled" when the axis status (AxisName.Md.AxisStatus) is "4: Standstill" after deceleration stop.
*2 The axis status (AxisName.Md.AxisStatus) will not transit if the axis status (AxisName.Md.AxisStatus) is "1: ErrorStop" or "2: Stopping"
after deceleration stop.
*3 If Enable turns FALSE during operation, the error "Deceleration Stop by Servo OFF During Operation" (error code: 1A3BH) will occur.
*4 When Enable turns FALSE during operation, the error "Immediate Stop by Servo OFF During Operation" (error code: 1A3CH) occurs. In
this case, on-going FB will be completed or stop immediately, and servo OFF will be executed.
Hardware stroke limit upper/lower limit error occurrence
When the hardware stroke limit upper/lower limit error occurs, the operation stops according to the process selected by
AxisName.Pr.StopMode_HwStrokeLimit.
For details, refer to the following.
Page 289 Hardware Stroke Limit
CPU module error occurrence
When the stop error occurs in the control CPU module, the operation stops according to the process selected by
System.Pr.StopMode_All.
PLC READY [Y0] OFF
When the PLC READY [Y0] is turned OFF, the operation stops according to the process selected by
System.Pr.StopMode_All.
Software stroke limit upper/lower limit error occurrence
When the software stroke limit upper/lower limit error occurs, the operation stops according to the process selected by
AxisName.Pr.StopMode_SwStrokeLimit.
For details, refer to the following.
Page 283 Software Stroke Limit
Processing selection at servo OFF
command during operation
ServoON
TRUE Independent of the setting
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE
TRUE
FALSE 0: Ignore
4: ServoOffAfterImmediateStop
5: ServoOffAfterDecelStop
TRUE Independent of the setting
FALSE
Axis status after input operation
(AxisName.Md.AxisStatus)
4: Standstill
0: Disabled
0: Disabled
0: Disabled
1: ErrorStop
1: ErrorStop
1: ErrorStop
1: ErrorStop
No transition
*1*2
No transition
*4
1: ErrorStop
*3
1: ErrorStop
*4
1: ErrorStop
*4
1: ErrorStop
4 START AND STOP
4.4 Stop
4
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