Mitsubishi Electric MELSEC iQ-R Series User Manual page 150

• When an FB that operates axes other than MC_Stop is executed while the axis status (AxisName.Md.AxisStatus) is the "2:
Stopping" status
The error "Start Not Possible" (error code: 1AADH) occurs and Error of MC_Stop turns TRUE, and then the axis status
(AxisName.Md.AxisStatus) changes to "1: ErrorStop".
• After axis stop, the axis status can be transited to "4: Standstill" by executing AxisName.Cd.ErrorReset.
• Even if Execute of command aborted FB by MC_Stop set to FALSE, once the stop operation is started, TRUE of
CommandAborted will be continued until it is completed. After it stops completely, changes CommandAborted to FALSE if
Execute of command aborted FB is FALSE.
MCv_SpeedControl
CommandAborted
MC_Stop
AxisName.Md.
AxisStatus
AxisName.Md.
SetVelocity
"Stop signal" of external input signal is TRUE
The operation executed now is stopped by turnning the stop signal set in AxisName.Pr.StopSignal TRUE.
• The operation stops by the operation set in AxisName.Pr.StopMode_General.
• The operation which is executed now turns CommandAborted to TRUE by changing the stop signal to TRUE.
When the speed reached 0, the axis status (AxisName.Md.AxisStatus) transits to "4: Standstill"
Execute
MCv_SpeedControl
CommandAborted
AxisName.Md.StopStatus
AxisName.Md.AxisStatus
AxisName.Md.SetVelocity
4 START AND STOP
148
4.4 Stop
Do not change Command-
Aborted to FALSE
Execute
Busy
Error
Execute
Busy
Done
6: ContinuousMotion
Velocity
Busy
Error
Detection of External Input Signal
(Stop signal)
4: Standstill 6: ContinuousMotion
Velocity
MCv_SpeedControl
start impossible
2: Stopping
4: Standstill 6: ContinuousMotion
4: Standstill
Time
Time