Mitsubishi Electric Q173CPU Programming Manual page 463

APPENDICES
Main
[F20]
SET M9028 //Clock data read request on
#100=0 //Continuation point=0
[G20]
M9076 //Did you release a forced
//stop?
[F110]
SET M2042//All axis servo ON command
//ON
[G105]
M2415*M2435//Did a thing during servo
//on 1 axis and 2 axes?
Restart continuation
[G21]
!M9076//Did you turn on a forced
//stop?
CLR
Restart continuation
[F25]
DOUT PY10, H0000 //PY10 to PY1F
//(16 points) OFF
(a) No.20 : Main
"0" is set on the continuation point (#100)
as an initial value.
P0
The subroutine starts "No.160 : Restart
continuation" after all axis servo are
turned on and servo on of 1 axis and 2
axes is confirmed when a forced stop is
released.
(Because the next step is a shift, it
becomes a subroutine start, and the
next step is executed at the same time
with subroutine practice, too.)
"No.160 : Restart continuation" is made
to stop by the forced stop, and real
output (PY) is turned off.
(Note-1) : The program that a subroutine
(Note-2) : Actual output is turned off if
(Note-3) : The occurrence detection of
P0
was started is made to stop if
necessary when a subroutine
start program is added because
it does not stop.
necessary.
servo error and so on is added
to the stop condition with
forced stop if necessary.
APP - 26
When a forced stop is released, it is
the structure which starts the program
which does motion control from the
initials again by sample program.
Therefore it is the system example
that motion control is resumed when
a forced stop release is executed
after it stops forced for while.