Outline For Restarting - Mitsubishi A1SD75P1-S3 User Manual

1 PRODUCT OUTLINE

1.2.4 Outline for 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.13 Restart command".
[Example for incremental method]
Axis 1
400
200
100
[Example for incremental method]
Axis 1
Stop position due to stop cause
400
Start point
address
200
100
100
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When " Cd.13 Restart command" is ON
(1) If the " Md.35 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 method or incremental method.
(2) When " Md.35 Axis operation status" is not stopped, the warning "restart not
possible" (warning code: 104) will be applied, and the restart command will be
ignored.
The restart 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
Designated end
Start point
point position
address
100 300 700
Reference
If the positioning start signal [Y10 to Y12]/external start signal is turned ON while
the " Md.35 Axis operation status" 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.)
The positioning start operation when the axis 1 movement amount is 300 and the
axis 2 movement amount is 600 is shown below.
Designated
end point
position
300 700
Axis 1
Stop position due to stop cause
400
Restart
200
100
Axis 2
100
Axis 1
Stop position due to stop cause
500
Positioning
start
200
100
Axis 2
100 300
1 - 17
MELSEC-A
Stop position
after restart
Operation
during restart
300 700
Stop position
after start
Operation dur-
ing positioning
start
Axis 2
900
Axis 2