Restart - Mitsubishi Electric RD77MS2 User Manual

1.3

Restart

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" ([Cd.6] Restart command). ("Restarting" is not
possible when "continuous operation is interrupted.")
This instruction is efficient when performing the remaining positioning from the stopped position in the positioning control of
incremental method such as INC linear 1. (Calculation of remaining distance is not required.)
Operation
After a deceleration stop by the stop command is completed, write "1: Restarts" to the "[Cd.6] Restart command" with "[Md.26]
Axis operation status" is "stopped" and the positioning restarts.
V
Start
Stop process with
stop command
Positioning data No.10
Restrictions
• Restarting can be executed only when the "[Md.26] Axis operation status" is "stopped (the deceleration stop by stop
command is completed)". If the axis operation is not "stopped", restarting is not possible. In this case, the warning "Restart
not possible" (warning code: 0902H) will occur, and the process at that time will be continued.
• Do not execute restart while the stop command is ON. If restart is executed while stopped, the error "Stop signal ON at
start" (error code: 1908H) will occur, and the "[Md.26] Axis operation status" will change to "Error". Thus, even if the error is
reset, the operation cannot be restarted.
• 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 is changed from OFF to ON while "[Md.26] Axis operation status" is "stopped", the normal
positioning (the positioning data set in "[Cd.3] Positioning start No.") is started.
• If positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If restart is
requested, the warning "Restart not possible" (warning code: 0902H) will occur.
• When stopped with interpolation operation, write "1: Restarts" into "[Cd.6] Restart command" for the reference axis, and
then restart.
• If the PLC READY signal is changed from OFF to ON while stopped, restarting is not possible. If restart is requested, the
warning "Restart not possible" (warning code: 0902H) will occur.
• When the machine home position return and fast home position return is stopped, the error "Home position return restart
not possible" (error code: 1946H) will occur and the positioning cannot restarts.
• If any of reference partner axes executes the positioning operation once after interpolation operation stop, the warning
"Restart not possible" (warning code: 0902H) will occur, and the positioning cannot restarts.
Setting method
Set the following data to execute restart.
n: Axis No. - 1
Setting item
[Cd.6] Restart command
*1 Refer to the following for the setting details.
Page 504 Control Data
Positioning data No.11
continues with restart command
Positioning data No.11
Setting Setting details
value
1 Set "1: Restarts".
Positioning data No.12
Buffer memory address
4303+100n
t
1 START AND STOP
29
1.3 Restart
1