APPENDIX 2.4 Continuation execution example at the subroutine re-start by the Motion
(1) Explanation of the operation
This is the program example which execute continuously from the motion control
step which stopped on the way when it re-started after stopping the subroutine
program with the clear step during the motion control is running.
The servo is turned on by the forced stop release and the positioning control of
the 2 axes liner interpolation is executed when PX4 is ON in this program. One
cycle operation is completed after confirmation that PX4 became OFF. When the
forced stop is executed during the positioning operating, the positioning operation
is interrupted and the servomotor is stopped. It is resumed from the interrupted
positioning operation when the forced stop was released next.
Continuation execution of the subroutine re-start is executed by this program
example by the following processing.
(a) While motion control with the subroutine is executed, it is memorized
whether the positioning of which motion control step was completed in the
(b) The subroutine re-start is resumed from the motion control step of stopping
the information memorized by the above (a).
(c) A motion control step should locate absolute to cope with it when it is
resumed after it stops on the way of the positioning.
(d) A positioning complete signal (M2401+20n) is used for the decision, whether
servomotor is stopped during the positioning.
APP - 24