Справочник Пользователя для Mitsubishi Electronics QD75P2N
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MELSEC-Q
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.5.5 Restart program
When a stop factor occurs during position control and the operation stops, the
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" ( Cd.6 Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")
This instruction is efficient when performing the remaining positioning from the stopped
position during position control of incremental system such as the INC Linear 1.
(Calculation of remaining distance is not required.)
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" ( Cd.6 Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")
This instruction is efficient when performing the remaining positioning from the stopped
position during position control of incremental system such as the INC Linear 1.
(Calculation of remaining distance is not required.)
[1] Restart operation
After a deceleration stop by the stop command is completed, write "1" to the
" Cd.6 Restart command" with " Md.26 Axis operation status" is "Stopped"
and the positioning restarts.
" Cd.6 Restart command" with " Md.26 Axis operation status" is "Stopped"
and the positioning restarts.
Axis 2
Axis 1
Stop with stop command
Positioning data No. 11
continues with restart
command
continues with restart
command
Positioning with positioning data No. 11
Positioning with positioning data No. 10
Positioning with positioning data No. 12
Fig. 6.13 Restart operation
[2] Restrictions
(1) Restarting can be executed only when the " Md.26 Axis operation status" is
"Stopped (the deceleration stop by stop command is completed)".
If the axis operation is not "stopped", restarting is not possible.
In this case, a warning "Restart not possible" (warning code: 104) will occur,
and the process at that time will be continued.
If the axis operation is not "stopped", restarting is not possible.
In this case, a warning "Restart not possible" (warning code: 104) will occur,
and the process at that time will be continued.
(2) Restarting can be executed even while the positioning start signal is ON.
However, make sure that the positioning start signal does not change from
OFF to ON while " Md.26 Axis operation status" is "Stopped".
If the signal is changed from OFF to ON while " Md.26 Axis operation
status" is "Stopped", the normal positioning (the positioning data set in
" Cd.3 Positioning start signal") is started.
OFF to ON while " Md.26 Axis operation status" is "Stopped".
If the signal is changed from OFF to ON while " Md.26 Axis operation
status" is "Stopped", the normal positioning (the positioning data set in
" Cd.3 Positioning start signal") is started.
(3) If the PLC READY signal is turned ON from OFF while " Md.26 Axis
operation status" is "Stopped", the positioning cannot be restarted. If restart is
requested, a warning "Restart not possible" (warning code: 104) will occur.
requested, a warning "Restart not possible" (warning code: 104) will occur.