Restart Program - Mitsubishi QD75P1N User Manual

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

6.5.5 Restart program

Axis 1
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" (
("Restarting" is not possible when "continuous operation is interrupted.")
This instruction is efficient when performing the remaining positioning from the stopped
position during position control of incremental system such as the 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 "
the positioning restarts.
Positioning with positioning data No. 11
Stop with stop command
Positioning with positioning data No. 10
Fig. 6.13 Restart operation
[2] Restrictions
(1) Restarting can be executed only when the "
"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) 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 "
If the signal is changed from OFF to ON while "
is "Stopped", the normal positioning (the positioning data set in "
Positioning start signal") is started.
(3) If the PLC READY signal is turned ON from OFF while "
status" is "Stopped", the positioning cannot be restarted. If restart is
requested, a warning "Restart not possible" (warning code: 104) will occur.
Cd.6
Restart command).
Md.26
Positioning data No. 11
continues with restart
command
Positioning with positioning data No. 12
Md.26
Axis operation status" is "Stopped".
6 - 39
Axis operation status" is "Stopped" and
Axis 2
Md.26
Axis operation status" is
Md.26
Axis operation status"
Md.26
MELSEC-Q
Cd.3
Axis operation