Mitsubishi Electric MELSEC Q Series Programming Manual page 202

6 POSITIONING CONTROL
(2) Re-starting after stop
(a) If it stopped by the stop command or stop cause (except change speed to
speed "0"), re-starting is not possible.
However, it stopped by the STOP input of the Q172DLX ON, the stop
command (M3200+20n) ON or the rapid stop command (M3201+20n) ON
during speed-position switching control, re-starting is possible using
VPSTART instruction.
(b) If it stopped by the speed change to speed "0" using CHGV instruction, re-
starting is possible by executing the speed change to speed other than "0".
Servo program start
Start accept flag
(M2001 to M2032)
CHGV instruction
Speed change accepting
flag (M2061+n)
Stop command
(M3200+20n)
1) The start accept flag (M2001 to M2032) remains on after stop by the
speed change to "0".
2) Re-starting by changing the speed again.
3) However, if the start accept flag (M2001 to M2032) turns off by turning
on the stop command (M3200+20n), re-starting is not possible even if
make a speed change once again.
V
Speed before speed change
Stop by the speed
change to speed "0"
ON
OFF
6 - 15
Speed after re-starting
2)
Re-starting
1) 3)
t