Mitsubishi Electric R16MTCPU Programming Manual page 345

■No.20: Main
Main
[F20]
#100=0 //Continuation point=0
P0
[G20]
SM502 //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]
!SM502//Did you turn on a forced
//stop?
CLR Restart continuation
[F25]
DOUT Y10, H0000 //Y10 to Y1F
//(16 points) OFF
P0
"0" is set on the continuation point (#100)
as an initial value.
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 (Y) is turned off.
*: The program that a subroutine was
started is made to stop if necessary
when a subroutine start program is
added because it does not stop.
*: Actual output is turned off if necessary.
*: The occurrence detection of servo error
and so on is added to the stop condition
with forced stop if necessary.
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 a while.
APPENDICES APPENDIX
Appendix 2 Sample Program
A
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