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CHAPTER 12 STOPPING AND RESTARTING
CONTROL
This chapter describes stops and restarts of control.
12.1 Stopping Control
This section describes control stops.
The QD73A1 stops control in case of the following.
• When each control ended normally
• When Servo READY signal (READY) turned off
• When an error occurred in the CPU module
• When PLC READY signal (Y2D) was turned off
• When an error occurred in the QD73A1
• When control was stopped intentionally (turning on Stop signal (Y27) or inputting Stop signal (STOP))
• When the upper limit switch (FLS) or the lower limit switch (RLS) turned off
• When the power supply was turned off
(1) Cause of a stop and process of stopping
The following table describes causes of stops and the subsequent processing (except the stop in case of normal
completion of positioning).
*1 The operation varies as shown below depending on "Deviation counter clear setting" in the switch setting.
If "0: Clear the deviation counter when the servo ready signal is OFF." is set, the analog output voltage becomes the
value on which zero adjustment was made at the timing when Servo READY signal (READY) has turned off.
If "1: Do not clear the deviation counter when the servo ready signal is OFF." is set, the analog output voltage equivalent
to the accumulated pulses in the deviation counter is output.
*2 Only during major positioning control or JOG operation
*3 Only during OPR
Cause of stop
Status of Error
detection
signal (X18)
Error
Process of
stop
Forced stop
Servo READY signal
(READY) turned off.
*1
ON Servo READY OFF while BUSY (error code: 90)
Free run
The power supply was
turned off.
Fatal stop
The upper limit switch
(FLS) turned off.
ON
Upper limit signal OFF while BUSY (error code: 91)
Deceleration
stop
The lower limit switch
(RLS) turned off.
Lower limit signal OFF while BUSY (error code: 92)
Emergency
stop
PLC READY signal
(Y2D) was turned off.
ON
PLC READY signal OFF during operation (error code: 105)
*2
PLC READY signal OFF during OPR (error code: 103)
*3
Intentional
stop
Stop signal (STOP)
was input.
ON
*3
External stop signal ON during OPR (error code: 93)
*3
Stop signal (Y27) was
turned on.
STOP signal ON during OPR (error code: 102)
*3