Outline For Restarting - Mitsubishi Electric AJ65BT-D75P2-S3 User Manual

1 PRODUCT OUTLINE

1.2.4 Outline for restarting

Axis 1
400
Start point
address
200
100
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 restart command [RY(n+2)5, RY(n+4)5].
When "Restart command [RY(n+2)5, RY(n+4)5]" is ON
(1) If the "Axis operation status (RWrn+7, RWrn+15)" is stopped, positioning to
the end point of the positioning data will be restarted from the stopped position
regardless of the absolute method or incremental method.
(2) When "Axis operation status (RWrn+7, RWrn+15)" is not stopped, the warning
"restart not possible" (warning code: 104) will be applied, and the restart
command will be ignored.
[Example for incremental method]
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
Reference
If the positioning start signal [RY(n+1)0, [RY(n+1)1]/external start signal is turned
ON while the "Axis operation status (RWrn+7, RWrn+15)" is waiting or stopped,
positioning will be restarted from the start of the positioning start data regardless of
the absolute method or incremental method.
(Same as normal positioning.)
[Example for incremental method]
The positioning start operation when the axis 1 movement amount is 300 and the
axis 2 movement amount is 600 is shown below.
Stop position due to stop cause
100 300 700
Designated end
point position
Restart
Axis 2
700
Axis 1
500
Designated
Positioning
end point
start
position
200
100
Axis 2
1 - 17
Axis 1
Stop position due to stop cause
400
200
100
100 300
Stop position due to stop cause
100 300
MELSEC-A
Stop position
after restart
Operation
during restart
Axis 2
700
Stop position
after start
Operation dur-
ing positioning
start
Axis 2
900