Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 6 Sequence Program Used for Positioning Control
6.5.5 Restart program
When a stop factor occurs during position control and the operation stops, the
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" (
Cd.6 Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")
This instruction is efficient when performing the remaining positioning from the stopped
position in the positioning control of incremental method such as INC linear 1.
(Calculation of remaining distance is not required.)
[1] Restart operation
After a deceleration stop by the stop command is completed, write "1" to the
"
Cd.6
Restart command
" with "
Md.26
Axis operation status
" is "stopped" and the
positioning restarts.
Axis 2
Axis 1
Stop with stop command
Positioning data No. 11
continues with restart
command
Positioning with positioning data No. 11
Positioning with positioning data No. 10
Positioning with positioning data No. 12
Fig. 6.13 Restart operation
[2] Restrictions
(1) Restarting can be executed only when the " Md.26 Axis operation status" is
"stopped (the deceleration stop by stop command is completed)".
If the axis operation is not "stopped", restarting is not possible.
In this case, a warning "Restart not possible" (warning code: 104) will occur,
and the process at that time will be continued.
(2) Do not execute restart while the stop command is ON.
If restart is executed while stopped, an error "Stop signal ON at start" (error
code: 106) will occur, and the "
Md.26
Axis operation status" will change to
"Error".
Thus, even if the error is reset, the operation cannot be restarted.
(3) Restarting can be executed even while the positioning start signal is ON.
However, make sure that the positioning start signal does not change from
OFF to ON while stopped.
(4) If the positioning start signal is changed from OFF to ON while "
Md.26
Axis
operation status
" is "stopped", the normal positioning (the positioning data set in
"
Cd.3
Positioning start signal
") is started.
(5) If positioning is ended with the continuous operation interrupt request, the
operation cannot be restarted.
If restart is requested, a warning "Restart not possible" (warning code: 104)
will occur.