Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.5.4 Continuous operation interrupt program
During positioning control, the control can be interrupted during continuous positioning
control and continuous path control (continuous operation interrupt function). When
"continuous operation interruption" is execution, the control will stop when the
operation of the positioning data being executed ends. To execute continuous
operation interruption, set "1: Continuous operation interrupt request" for "
Cd.18
Continuous operation interrupt request".
[1] Operation during continuous operation interruption
Start
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
Stop command ON or
continuous operation interrupt request
V
t
Stop process at continuous operation
interrupt request
Stop process when stop command turns ON
Fig. 6.12 Operation during continuous operation interruption
[2] Restrictions
(1) When the "continuous operation interrupt request" is executed, the positioning
will end.
Thus, after stopping, the operation cannot be "restarted".
When "
Cd.6
Restart command" is issued, a warning "Restart not possible"
(warning code: 104) will occur.
(2) Even if the stop command is turned ON after executing the "continuous
operation interrupt request", the "continuous operation interrupt request"
cannot be canceled.
Thus, if "restart" is executed after stopping by turning the stop command ON,
the operation will stop when the positioning data No. where "continuous
operation interrupt request" was executed is completed.
Axis 2
Axis 1
Positioning for positioning data No. 12
is not executed
Positioning with positioning data No. 10
Positioning with positioning data No. 11
Continuous operation
interrupt request
Positioning ends with continuous
operation interrupt request