Mitsubishi Electric MELSEC iQ-R Series User Manual page 442

■Setting method
For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory.
n: Axis No. - 1
Item
[Pr.84] Restart allowable range when servo OFF to ON
• Setting example
A program to set the restart allowable range for axis 1 to 10000 pulses is shown below.
DMOVP K10000 D0
DTOP H0 K64
[Operation at emergency stop input]
Emergency stop input
(Last command
position)
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 399 Positioning parameters: Detailed parameters 2
12 DATA USED FOR POSITIONING CONTROL
440
12.3 Basic Setting
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Restart allowable range (10000 pulses)
is stored in D0, D1.
Data for D0, D1 is stored in buffer memory
D0 K1
64, 65 of the Motion module.
• The difference between the last command position at servo OFF and the current value at servo ON is output
at once at the first restart. If the restart allowable range is large at this time, an overload may occur on the
servo side. Set a value which does not affect the mechanical system by output once to the restart allowable
range when switching servo OFF to ON.
• The restart at switching servo OFF to ON is valid only at switching servo OFF to ON at the first time. At the
second time or later, the setting for restart allowable range when switching servo OFF to ON is disregarded.
• Execute servo OFF when the mechanical system is in complete stop state. The restart at switching servo
OFF to ON cannot be applied to a system in which the mechanical system is operated by external pressure
or other force during servo OFF.
• Restart can be executed only while the axis operation status is "stop". Restart cannot be executed when the
axis operation status is other than "stop".
• When the PLC READY signal [Y0] is switched from OFF to ON during servo OFF, restart cannot be
executed. If restart is requested, the warning "Restart not possible" (warning code: 0D02H) occurs.
• Do not restart while a stop command is ON. When restart is executed during a stop, the error "Stop signal
ON at start" (error code: 1A08H) occurs and the axis operation status becomes "ERR". Therefore, restart
cannot be performed even if the error is reset.
• Restart can also be executed while the positioning start signal is ON. However, do not set the positioning
start signal from OFF to ON during a stop. If the positioning start signal is switched from OFF to ON,
positioning is performed from the positioning data No. set in "[Cd.3] Positioning start No." or from the
positioning data No. of the specified point.
• If positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If
restart is requested, the warning "Restart not possible" (warning code: 0D02H) will occur.
Stop position at
servo OFF
Movement during
servo OFF
search engine
Setting range
0, 1 to 327680 [pulse]
0: restart not allowed
[Operation at restart]
Restart operation
Last command
position
Default Buffer memory address
value
Axis 1 to axis 16
0 64+150n
65+150n
(Current value at servo ON)
Stop position at servo OFF
Output at once
at restart