Outline Of Restarting - Mitsubishi Electric MELSEC-L LD75P User Manual

1.2.4

Outline of restarting

When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end
point of the positioning data can be restarted from the stopped position by using the "[Cd.6] Restart command".
If issued during a continuous positioning or continuous path control operation, the restart command will cause the
positioning to be re-executed using the current position (pointed by the positioning data No. associated with the
moment when the movement was interrupted) as the start point.
(1) When "[Cd.6] Restart command" is ON
• If the "[Md.26] Axis operation status" is "Stopped", positioning to the end point of the positioning data will be
restarted from the stopped position regardless of the absolute system or incremental system.
• When "[Md.26] Axis operation status" is not "Stopped", the warning "Restart not possible" (warning code:
104) will be applied, and the restart command will be ignored.
(a) Example for incremental system
The restart operation when the axis 1 movement amount is 300, and the axis 2 movement amount is 600 is
shown below.
Axis 1
Stop position due to stop cause
400
Start point
address
200
100
100 300
(2) Reference
If the positioning start signal [Y10 to Y13]/external command signal
operation status" is "Standby" or "Stopped", positioning will be restarted from the start of the positioning start data
regardless of the absolute system or incremental system.
(Same as normal positioning.)
*1 When the external command signal is set to "External positioning start"
(a) Example for incremental system
The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is
600 is shown below.
Axis 1
Stop position due to stop cause
400
Start point
address
200
100
100 300
42
Designated end
Restart
point position
Axis 2
700
Positioning
Designated end
start
point position
Axis 2
700
Axis 1
Stop position due to stop cause
400
200
100
100 300
*1
is turned ON while the "[Md.26] Axis
Axis 1
Stop position due to stop cause
500
200
100
100 300
Stop position
after restart
Operation during
restart
Axis 2
700
Stop position
after restart
Operation during
positioning start
Axis 2
900