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Chapter 5 Data Used for Positioning Control
(2) Setting method
For performing restart at switching servo OFF to ON, set the restart allowable
range in the following buffer memory.
Buffer memory address
Item Setting range
Default value
QD77MS2
QD77MS4
QD77MS16
64+150n
65+150n
[Pr.84] Restart allowable range
when servo OFF to ON
0, 1 to 327680 (PLS)
0: restart not allowed
0
[Setting example]
A program to set the restart allowable range for axis 1 to 10000 PLS is
shown below.
DMOVP K10000 D0
DTOP H0 K64 D0 K1
Restart allowable range (10000 PLS)
is stored in D0, D1.
Data for D0, D1 is stored in buffer
memory 64, 65 of the Simple Motion module.
(3) Precautionary notes
(a) The difference between the last command position at servo OFF and the
present 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.
(b) 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.
(c) 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.
(d) 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".
(e) When the PLC READY signal is switched from OFF to ON during servo
OFF, restart cannot be executed.
If restart is requested, the warning "Restart not possible" (warning code:
104) occurs.
(f) 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: 106) occurs and the axis operation status becomes "ERR".
Therefore, restart cannot be performed even if the error is reset.