Mitsubishi Electric QD77MS User Manual page 189

(g) Restart can also be executed while the positioning start signal is ON.
(h) When positioning is terminated by a continuous-operation interrupt
[Operation at emergency stop input]
Emergency stop input
(Last command position)
[Pr.89] Manual pulse generator/Incremental synchronous encoder input type
Set the input type from the manual pulse generator/incremental synchronous
encoder. (Only the value specified against the axis 1 is valid.)
0: Differential output type
1: Voltage output/open collector type
Note) The "Manual pulse generator/Incremental synchronous encoder input type
Refer to Section 3.4 "Specifications of interfaces with external devices" for details.
However, do not set the positioning start signal from OFF to ON during a
stop.
If the positioning start signal is switched from OFF to ON, positioning is
performed from the positioning data number set in "[Cd.3] Positioning
start No." or from the positioning data number of the specified point.
request, restart cannot be performed.
If a restart request is executed, the warning "Restart not possible"
(warning code: 104) occurs.
Stop position at
servo OFF
Movement during
servo OFF
selection
selection" is included in detailed parameters 2, but it will be valid at the
rising edge (OFF to ON) of the PLC READY signal [Y0].
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Chapter 5 Data Used for Positioning Control
[Operation at restart]
Restart operation
Last command
(Present value at servo ON)
position
Stop position at servo OFF
Output at once
at restart