Mitsubishi Electric MELSECQ Series User Manual page 197

11 SUB FUNCTIONS
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[1] Control details
(1) Restart during position control
Setting "1: With restart request" in " Cd. 4 Restart request" when " Md. 4 Axis
operation status" is "Stopped" resumes position control from the stop position to
the end point of the positioning data where the axis had stopped, independently
of the absolute or incremental system.
[Example for incremental system]
The following is the operation performed when the axis is stopped during
execution of position control (1-axis linear control) at the axis 1 movement
amount of 600 and a restart request is executed after the axis stop signal
turns OFF.
Stop position at axis stop
Starting point
address
0 100 300
(2) Restart during speed control
Speed control is resumed at the speed used before a stop made by the axis stop
signal [Y10 to Y17].
(3) When restart is not made during position control
When " Md. 4 Axis operation status" is "Stopped", turning ON the positioning start
signal [Y8 to YF] starts position control from the current stop position.
[Example for incremental system]
The following is the operation performed when the axis is stopped during
execution of position control (1-axis linear control) at the axis 1 movement
amount of 600 and position control is started after the axis stop signal turns
OFF.
Stop position at axis stop
Starting point
address
0 100 300
search engine
Specified end
Restart
point position
Axis 1
700
Specified end
Positioning
point position
start
Axis 1
700
MELSEC-Q
Stop position at axis stop
Stop position
Operation at
after restart
restart
0 100 300 700
Stop position at axis stop
Operation at position
control start
0 100 300
Axis 1
Stop position
after restart
Axis 1
900
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