Mitsubishi Electric MELSEC-Q Series User Manual page 357

[3] Order of priority for stop process
The order of priority for the Simple Motion module stop process is as follows.
Deceleration stop < Rapid stop < Immediate stop
(1) If the deceleration stop command ON (stop signal ON) or deceleration stop
cause occurs during deceleration to speed 0 (including automatic
deceleration), operation changes depending on the setting of "[Cd.42] Stop
command processing for deceleration stop selection".
(a) Manual control
Independently of the [Cd.42] setting, a deceleration curve is re-processed
from the speed at stop cause occurrence.
(b) HPR control

When [Cd.42] = 0 (deceleration curve re-processing):
A deceleration curve is re-processed from the speed at stop cause
occurrence.
 When [Cd.42] = 1 (deceleration curve continuation):
The current deceleration curve is continued after stop cause occurrence.
(For details, refer to Section 13.7.9 "Stop command processing for
deceleration stop function".)
(Note-1): The stop process when using the driver HPR method follows the
specification of the servo amplifier. [CiA402 mode]
(2) If the stop signal designated for rapid stop turns ON or a stop cause occurs
during deceleration, the rapid stop process will start from that point.
However, if the rapid stop deceleration time is longer than the deceleration
time, the deceleration stop process will be continued even if a rapid stop
cause occurs during the deceleration stop process.
Example
The process when a rapid stop cause occurs during deceleration stop is shown below.
Positioning speed
Rapid stop deceleration process
(a) When deceleration stop time > rapid stop deceleration time
Chapter 6 Sequence Program Used for Positioning Control
(Note-1)
, positioning control
Deceleration
stop process
Rapid
stop cause
Stop
Deceleration stop process continues
6 - 75
Positioning speed
Process for rapid stop
(b) When deceleration stop time < rapid stop deceleration time
Deceleration
stop process
Rapid
stop cause
Stop