Mitsubishi A1SD75M1, User Manual

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MELSEC-A
1 PRODUCT OUTLINE
1.2.4 Outline for restarting
When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using the " Cd.13 Restart command".
When " Cd.13 Restart command" is ON
(1) If the " Md.35 Axis operation status" is stopped, positioning to the end point of
the positioning data will be restarted from the stopped position regardless of
the absolute method or incremental method.
(2) When " Md.35 Axis operation status" is not stopped, the warning "restart not
possible" (warning code: 104) will be applied, and the restart command will be
ignored.
[Example for incremental method]
The restart operation when the axis 1 movement amount is 300, and the axis 2
movement amount is 600 is shown below.
400
200
100
100 300 700
400
200
300 700
100
100
Axis 1
Stop position due to stop cause
Designated end
point position
Start point
address
Restart
Axis 2
Stop position
after restart
Operation
during restart
Axis 1
Stop position due to stop cause
Axis 2
Reference
If the positioning start signal [Y10 to Y12]/external start signal is turned ON while
the " Md.35 Axis operation status" is waiting or stopped, positioning will be
restarted from the start of the positioning start data regardless of the absolute
method or incremental method.
(Same as normal positioning.)
[Example for incremental method]
The positioning start operation when the axis 1 movement amount is 300 and the
axis 2 movement amount is 600 is shown below.
400
200
100
100 300 700
500
200
300 900
100
100
Axis 1
Stop position due to stop cause
Designated
end point
position
Start point
address
Axis 2
Axis 1
Stop position due to stop cause
Axis 2
Positioning
start
Stop position
after start
Operation dur-
ing positioning
start