Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 158

Example
The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical
positioning points do not exist on the cam) from the feed current value after a forced stop, when the forced stop has stopped
operation.
If the following settings are used in a two-way cam or a cam where identical positioning points exist on the same cam, similar
to the cam axis current value per cycle restoration operation (Page 153 Cam axis current value per cycle restoration
operation), the first matching feed current value (outward route) is restored, therefore restoration may start from an
unintended cam pattern position. To avoid restoring the first matching feed current value, use cam axis current feed value
restoration (Page 159 Cam axis current feed value restoration).
Setting item
[Pr.439] Cam axis length per cycle (R: D42700+160n, D42701+160n/Q: D15060+150n, D15061+150n)
[Pr.441] Cam stroke amount (R: D42704+160n, D42705+160n/Q: D15064+150n, D15065+150n)
[Pr.462] Cam axis restoration object (R: D42742+160n/Q: D15102+150n)
[Pr.463] Setting method of cam reference position (R: D42743+160n/Q: D15103+150n)
[Pr.464] Setting method of cam axis current value per cycle (R: D42744+160n/Q: D15104+150n)
[Pr.467] Cam reference position (Initial setting)
(R: D42750+160n, D42751+160n/Q: D15110+150n, D15111+150n)
[Pr.468] Cam axis current value per cycle (Initial setting)
(R: D42752+160n, D42753+160n/Q: D15112+150n, D15113+150n)
• Advanced synchronous control operation
Feed current value[pulse]
123
0
Forced stop occurred during operation, and the cam decelerates to a stop.
(Advanced mode synchronous control is cancelled)
• Restore operation at restart of advanced synchronous control
Feed current value[pulse]
200
123
Reference position=0[pulse]
Cam axis current
value per cycle[pulse]
1000
7 SYNCHRONOUS CONTROL INITIAL POSITION
156
7.3 Cam Axis Position Restoration Method
Feed current value after free run
Time[ms]
0
Cam is determined to restart at the position where cam axis
current value per cycle is "Feed current value=123[pulse]".
0
Time[ms]
Time[ms]
Setting value
1000[pulse]
200[pulse]
0: Cam axis current value per cycle restoration
1: Initial setting value of cam reference position
0: Previous value
0[pulse]
0[pulse]