Mitsubishi Electronics QD75D Outline for restarting, When Cd.6 Restart command is on, Reference

1PRODUCT OUTLINE

1.2.4 Outline for restarting

MELSEC-Q

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.6 Restart command".

If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the

current position (pointed by the positioning data No. associated with the moment when the movement was interrupted) as the start point.

When "

Cd.6

Restart command" is ON

(1)If the " Md.26 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 system or incremental system.

(2)When " Md.26 Axis operation status" is not stopped, the warning "Restart not

possible" (warning code: 104) will be applied, and the restart command will be ignored.

[Example for incremental system]

(a) The restart operation when the axis 1 movement amount is 300, and the axis 2 movement amount is 600 is shown below.

Axis 1						Axis 1
	Stop position due to stop cause						Stop position due to stop cause
400			Designated end		Restart 400				Stop position
	Start point
	address		point position						after restart
200					200				Operation during
100					100				restart
				Axis 2						Axis 2
	100	300	700		100			300	700

Reference

If the positioning start signal [Y10 to Y13]/external command signal is turned ON

while the "

Md.26

Axis operation status" is waiting or stopped, positioning will be

restarted from the start of the positioning start data regardless of the absolute system or incremental system. ( : When the external command signal is set to "External positioning start")

(Same as normal positioning.)

[Example for incremental system]

(a)The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below.

Axis 1						Axis 1
	Stop position due to stop cause				500		Stop position due to stop cause		Stop position
400	Start point		Designated end		Positioning				after restart
			point position		start
200	address					200			Operation during
100					100				positioning start
				Axis 2						Axis 2
100		300	700		100			300	900

1 - 21