Instruction manual

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART
9 9
Affected Virtual Axis Stop Processing
No.
Stop Procedure or
Stop Causes during
Operation
Virtual
Servo
Motor Axis
Synchrono
us Encoder
Axis
All Axes
Batch
Virtual Servo
Motor Axis
Synchronous
Encoder Axis
Return to
REAL Mode
by OS after
All Virtual
Axes Stop
Completed
Synchroni-
zation
Discrepancy
Warning
(M2046) set
1
Stop command ON
!
(Relevant
axis)

Deceleration
to stop

2
Rapid stop command
ON
!
(Relevant
axis)

Rapid stop

3
All-axes servo OFF
command
(M2042 OFF
Command from
peripheral
device when in TEST
mode)
!
Deceleration
to stop
Immediate
input stop

4
PLC READY (M2000)
OFF
!
Deceleration
to stop
Immediate
input stop
!
5
Servo system CPU stop
!
Deceleration
to stop
Immediate
input stop
!
6
All-axes rapid stop by
key input from
peripheral device
!
Rapid stop
Immediate
input stop

7
Stop by key input from
peripheral device during
TEST mode
!
(All axes)

Deceleration
to stop

8
External emergency
stop (EMG) input
(emergency stop from
teaching module)
!
Rapid stop
Immediate
input stop
!!
9
Servo error at any
output module
!
Rapid stop
Immediate
input stop
!!
10
SCPU WDT error
!
Deceleration
to stop
Immediate
input stop

11
PCPU WDT error
!
Immediate
stop
Immediate
input stop

12
Servo system CPU
reset
!
Immediate
stop
Immediate
input stop

13
Servo system CPU
power OFF
!
Immediate
stop
Immediate
input stop

14
Other errors during
virtual axis operation
! 
Deceleration
to stop

15
Error at absolute
synchronous encoder
axis
! 
Immediate
input stop
