Mitsubishi MELSEC-Q QD77MS, Руководство пользователя

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Chapter 5 Data Used for Positioning Control
Pr.84 Restart allowable range when servo OFF to ON
(1) What is the restart function when servo OFF to ON ?
The QD77MS restart function when servo OFF changes to ON, performs
continuous positioning operation (positioning start, restart) when the servo is
switched from OFF to ON in the stopped state (including QD77MS's forced
stop, servo forced stop).
Restart when servo OFF changes to ON can be performed when the
difference between the last command position of QD77MS when it stopped
and the present value when servo OFF changed to ON, is less than the value
set in the buffer memory for the restart allowable range setting.
(a) Servo emergency stop processing
1) The positioning operation is judged as stopped and can be restarted
if the difference between the last command position of QD77MS at
the QD77MS's forced stop input or servo forced stop input and the
present value at QD77MS's forced stop release or servo forced stop
release is lower than the value set in the buffer memory for the
restart allowable range setting.
2) When the difference between the last command position of the
QD77MS 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.
Operation Servo OFF
Last command position Servo ON
Stop/Wait
Restart invalid
Restart valid
Axis operation
status
Forced stop Release Input Release
(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
QD77MS 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
QD77MS 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.
Stop command Servo ON
Stop/Wait
Restart invalid
Restart valid
Axis operation status Stop Positioning Servo OFF
ON
OFF
Servo ON signal
Md.108 ( Servo status: b1)