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Mitsubishi Electric MELSECQ Series User Manual page 198

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11 SUB FUNCTIONS
Speed-position
switching signal
(CHG)
Speed-position
switching signal
(CHG)
11 - 13
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[2] Precautions for control
(1) Setting "1: With restart request" in " Cd. 4 Restart request" when " Md. 4 Axis
operation status" is other than "Stopped" results in the "Restart not possible"
warning (warning code: 11).
(2) If "1: With restart request" is set in " Cd. 4 Restart request" when the axis
stop signal [Y10 to Y17] is ON, the "Stop signal ON at start" error (error
code: 102) occurs and a restart is not made.
(3) If the positioning data is changed after the axis has been stopped by the axis
stop signal [Y10 to Y17], a restart cannot be made properly.
(4) The restart function is not performed in the following cases.
(The "Restart not possible" warning (warning code: 11) occurs.)
• During OPR control
• During JOG operation
(5) For speed-position switching control, the axis is always restarted by speed
control whichever speed control or position control is used for the operation
before the axis is stopped by the axis stop signal.
The following shows operations under speed-position switching control after
restart.
(a) When the speed-position switching signal (CHG) is OFF at restart
The axis is started with speed control, and position control of the
movement amount set in " Da. 6 Positioning address/movement
amount" is executed from the position where the speed-position
switching signal is turned ON.
V
Axis stop signal
Speed
control
ON
OFF
(b) When the speed-position switching signal (CHG) is ON at restart
The axis is restarted with speed control and then position control
switched immediately, and position control of the movement amount
set in " Da. 6 Positioning address/movement amount" is executed from
the position where the axis is restarted.
V
Axis stop signal
Speed
control
ON
OFF
search engine
Restart request
ON
ON
Position
Speed
control
control
Restart request
ON
ON
Position
control
Position control
MELSEC-Q
T
Position
control
T
11 - 13

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