Mitsubishi QD75M1, User Manual

Page: 132 / 882

5 - 45
MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
2) When the difference between the last command position of the QD75
at the time the servo stop signal turned ON and the present value at
the time the servo stop signal turned OFF is greater than the value
set in the buffer memory for the restart allowable range setting, the
positioning operation is judged as on-standby and cannot be
restarted.
ON
OFF
Operation
Error Servo OFF Stopping/Waitting
Last command position Servo ON
Restart invalid
Restart valid
Axis status
Servo emergency
stop signal
(b) Processing when the servo ON signal changes from OFF to ON.
1) The positioning operation is stopped and restart can be performed
when the difference between the last command position of the QD75
when the servo ON signal went from OFF to ON is lower than the
value set in the buffer memory for restart allowable range setting.
2) When the difference between the last command position of the QD75
at the time the servo ON signal when from ON to OFF and the
present value at the time the servo ON signal went from OFF to ON
is greater than the value set in the buffer memory for the restart
allowable range setting, the positioning operation is judged as on-
standby and cannot be restarted.
Axis status
Servo emergency
stop signal
Stopping Positioning Servo OFF Stopping/Waiting
Stop command
Servo OFF Waitting
Restart invalid
Restart valid
Servo ON
ON
OFF
Servo ON
Restart invalid
(2) Setting method
When performing restart at the time servo OFF changes to ON, set the restart
allowable range in the following buffer memory.
Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4
Item Setting range Default value
64
65 214
215 364
365 514
515
Pr.201 Restart allowable range
setting when servo OFF changes
to ON
0, 1 to 163840 (PLS)
0: restart not allowed
0
[Setting example]
A program in which the restart allowable range for axis 1 is set to 10000 PLS
is shown below.
DMOVP K10000 D0
DTOP H0 K64 D0 K1
Restart allowable range (10000 PLS)
is stored in D0, D1.
Data for D0, D1 is stored in buffer
memory 64, 65 of the QD75.