6.1.6 Stop processing and restarting after stop. Mitsubishi MOTION CONTROLLERS Q172DCPU

6 POSITIONING CONTROL

6.1.6 Stop processing and restarting after stop

This section describes the stop processing after a stop cause is input during positioning and restarting after stop.

(1) Stop processing

(a) Stop processing methods

Stop processing during positioning by stop cause are as follows.

1) Deceleration stop (Process 1).......Deceleration stop by "stop deceleration time" of parameter block.

Speed limit value

Stop cause

Operation speed

Stop

Real deceleration time

"Stop deceleration time" of

parameter block

2) Rapid stop (Process 2)..................Deceleration stop by "rapid stop deceleration time" of parameter block.

Stop cause

Stop

Real deceleration time

"Rapid stop deceleration time" of parameter block

3) Immediate stop (Process 3)...........Stop without deceleration processing.

Stop cause

Stop

6 - 11

6 POSITIONING CONTROL

4) Stop using the manual pulse generator (Process 4)

..................Deceleration stop by the "deceleration time" of

(Smoothing magnification + 1) 56.8[ms].

(b) Priority for stop processing

Priority for stops when a stop cause is input is as follows:

Process 1 < Process 2 < Process 3

Example

A rapid stop is started if a rapid stop cause is input during one of the following types of deceleration stop processing :

• After automatic deceleration start during positioning control;

• During deceleration after JOG start signal turns off;

• During deceleration stop processing by stop cause (Process 1).

Deceleration stop processing

Rapid stop cause

Rapid stop deceleration processing

Stop

6 - 12

6 POSITIONING CONTROL

1

STOP signal input (STOP) of the Q172DLX ON

2

3

4

5

6

Stop command

"M3200 + 20n" ON

Rapid stop command

"M3201 + 20n" ON

FLS input signal OFF of

Q172DLX/servo amplifier

RLS input signal OFF of

Q172DLX/servo amplifier

Servo error detection

"M2408 +20n" ON

7 PLC ready flag M2000 OFF

8

9

Deceleration stop using

MT Developer (Note-1)

Rapid stop of the all axes using

MT Developer (Note-1)

10 Motion CPU stop

11 Multiple CPU system reset

(c) Stop commands and stop causes

Some stop commands and stop causes affect individual axis and others affect all axes.

However, during interpolation control, stop commands and stop causes which affect individual axis also stop the interpolation axis.

For example, both Axis 1 and Axis 2 stop after input of a stop command

(stop cause) during the Axis 1 and Axis 2 interpolation control.

Axis

Positioning control

Speed control

Stop processing

Jog operation

Home position return

Process 1 or Process 2

• According to deceleration processing on STOP input parameter of parameter block.

Manual pulse generator

Error processing

Process 1

Process 4

Individual

Process 2

Process 1 or Process2

• According to deceleration processing on STOP input parameter of parameter block.

Refer to "APPENDIX 1 Error

Codes Stored Using The

Motion CPU"

Process 3

Process 1

Process 1

Process 2

Process 1

All axes

Process 3

Process 4

12 Motion CPU WDT error

13 Other CPU WDT error

Process 3

Process 1

—

SM512 (Motion CPU WDT error flag) ON

—

14 Multiple CPU system power off

16 Servo amplifier power off

17 Speed change to speed "0"

Process 3

Process 3

Individual Process 3

Individual

(Note-2)

Process 1

—

Servo amplifier is stopped at the servo OFF.

Major error at the start

(no servo)

— —

(Note-1): Test mode

(Note-2): Applies to all axes used in the servo program set in the speed "0".

6 - 13

6 POSITIONING CONTROL

(2) Re-starting after stop

(a) If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible.

However, it stopped by the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON during speed/position switching control, re-starting is possible using

VPSTART instruction.

(b) If it stopped by the speed change to speed "0" using CHGV instruction, restarting is possible by executing the speed change to speed other than "0".

V

Speed before speed change

Speed after re-starting

2) t

Stop by the speed change to speed "0"

Re-starting

Servo program start

Start accept flag

(M2001 to M2032)

CHGV instruction

Speed changing flag

(M2061+n)

Stop command

(M3200+20n)

OFF

ON

1) 3)

1) The start accept flag (M2001 to M2032) remains on after stop by the speed change to "0".

2) Re-starting by changing the speed again.

3) However, if the start accept flag (M2001 to M2032) turns off by turning on the stop command (M3200+20n), re-starting is not possible even if make a speed change once again.

6 - 14

6 POSITIONING CONTROL

(3) Continuation of positioning control

This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON.

(a) 1 axis linear control/2 or 3 axes linear interpolation control

1) For ABS† ....... Positioning control from the stop address to target address by the target address specification.

Axis 2

Stop position by stop command

Target address

Start address 2 after stop

Start address 1

Axis 1

2) For INC† ........ Positioning control of the travel value from the stop address.

Axis 2

Stop position by stop command

Travel from address 1

Travel from address 2

Address 2 (start address after stop)

Address 1 (start address)

Axis 1

When the address 2 is moved to the same address (address which calculates with start address + specified travel value) using the INC†, the following processing using the servo program and Motion SFC program is required.

[Servo Program]

The travel value of servo program which executes the positioning from address is set indirectly by the word devices, as follows.

<K 10>

INC-2

Axis

Axis

Vector speed

1,

2,

D3000

D3002

5000

Travel value

6 - 15

6 POSITIONING CONTROL

[Processing in the Motion SFC Program]

1. Transfer the start address to word devices of the Motion CPU before starting.

2. Calculate the target address by applying the travel value to the address before starting.

3. Calculate the residual travel value by subtracting the stop address from the target address.

4. Store the residual travel value in the servo program for travel value register.

5. Perform the servo program.

Axis 2

Stop position by stop command

[Address 2 (start address after stop)]

Address 1

(start address)

Travel value from

Address 2 (Note)

Travel value from

Address 1

Axis 1

Travel value from

Address 2 (Note)

Travel value from Address 1

(Note): Store in registers for travel value.

6 - 16