Mitsubishi Electric MELSEC Q Series, User Manual

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Chapter 6 Sequence Program Used for Positioning Control
(6) When stopped with interpolation operation, write "1: Restarts" into "[Cd.6]
Restart command" for the reference axis, and then restart.
(7) If the PLC READY signal is changed from OFF to ON while stopped, restarting
is not possible.
If restart is requested, the warning "Restart not possible" (warning code: 104)
will occur.
(8) When the machine HPR and fast HPR is stopped, the error "HPR restart not
possible" (error code: 209) will occur and the positioning cannot restarts.
(9) If any of reference partner axes executes the positioning operation once after
interpolation operation stop, the warning "Restart not possible" (warning code:
104) will occur, and the positioning cannot restarts.
[3] Control data requiring setting
Set the following data to execute restart.
Setting item
Setting
value
Setting details Buffer memory address
[Cd.6] Restart command 1 Set "1: Restarts". 4303+100n
n: Axis No.-1
: Refer to Section 5.7 "List of control data" for details on the setting details.
[4] Starting conditions
The following conditions must be satisfied when restarting. (Assemble the
required conditions into the sequence program as an interlock.)
(1) Operation state

"[Md.26] Axis operation status" is "1: Stopped".
(2) Signal state
Signal name Signal state Device
Interface
signal
PLC READY signal ON PLC CPU preparation completed Y0
READY signal ON QD77GF preparation completed X0
All axis servo ON ON All axis servo ON Y1
Synchronization flag ON
QD77GF buffer memory
Accessible
X1
Axis stop signal OFF Axis stop signal is OFF [Cd.180] Axis stop
M code ON signal OFF M code ON signal is OFF [Md.31] Status: b12
Error detection signal OFF There is no error [Md.31] Status: b13
BUSY signal OFF BUSY signal is OFF X10 to X1F
Start complete signal OFF Start complete signal is OFF [Md.31] Status: b14
External
signal
Forced stop input signal ON There is no forced stop input –
Stop signal OFF Stop signal is OFF –
Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –
: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be
provided as an interlock.
When it is made in the synchronous mode, no interlock must be provided in the program because the flag is
turned ON when calculation is run on the PLC CPU.