Restart Program - Mitsubishi Electric QD75MH1 User Manual

6 PLC 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.")
[1] Restart operation
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".
If the axis operation is not "stopped", restarting is not possible.
(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 "
"error occurring".
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.
If the positioning start signal changes from OFF to ON, positioning will start
from the positioning data No. of designated point's positioning data No. set in
Cd.3
" Positioning start No.".
(4) 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.
(5) When stopped with interpolation operation, write "1: Restarts" into
Cd.6
" Restart command" for the reference axis, and then restart.
Md.26
(6) If the "
warning "Restart not possible" (warning code: 104) will occur, and the process
at that time will be continued.
Cd.6
Restart command).
Positioning data No. 11
continues with restart
command
Md.26
Axis operation status" is not "stopped" when restarting, a
6 - 66
Positioning with positioning data No. 12
Axis 2
Md.26
Axis operation status" is
Axis operation status" will change to
MELSEC-Q