Mitsubishi Electric MELSEC-Q Series User Manual page 166

[Pr.84] Restart allowable range when servo OFF to ON
(1) Restart function at switching servo OFF to ON
The restart function at switching servo OFF to ON performs continuous
positioning operation (positioning start, restart) when switching servo OFF to
ON while the Simple Motion module is stopped (including forced stop, servo
forced stop).
Restart at switching servo OFF to ON can be performed when the difference
between the last command position of Simple Motion module at stop and the
present value at switching servo OFF to ON is equal to or less than the value
set in the buffer memory for the restart allowable range setting.
(a) Servo emergency stop processing
Forced stop Release
Axis operation
Operation
status
(b) Processing at switching the servo ON signal from OFF to ON
Servo ON signal
( Md.108 Servo status: b1)
Axis operation status
1) When the difference between the last command position of Simple
Motion module at the forced stop input or the servo forced stop input
and the present value at the forced stop release or the servo forced
stop release is equal to or less than the value set in the buffer
memory for the restart allowable range setting, the positioning
operation is judged as stopped and can be restarted.
2) When the difference between the last command position of Simple
Motion module at the forced stop input or the servo forced stop input
and the present value at the forced stop release or the servo forced
stop release is greater than the value set in the buffer memory for the
restart allowable range setting, the positioning operation is judged as
on-standby and cannot be restarted.
Last command position
1) When the difference between the last command position of Simple
Motion module at switching the servo ON signal from ON to OFF and
the present value at switching the servo ON signal from OFF to ON
is equal to or less than the value set in the buffer memory for the
restart allowable range setting, the positioning operation is judged as
stopped and can be restarted.
2) When the difference between the last command position of Simple
Motion module at switching the servo ON signal from ON to OFF and
the present value at switching the servo ON signal from OFF to ON
is greater than the value set in the buffer memory for the restart
allowable range setting, the positioning operation is judged as on-
standby and cannot be restarted.
ON
Positioning
Stop command
5 - 46
Chapter 5 Data Used for Positioning Control
Input
Servo OFF
Servo ON
OFF
Stop Servo OFF
Servo ON
Release
Stop/Wait
Restart invalid
Restart valid
Stop/Wait
Restart invalid
Restart valid