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1.2.4 Outline for restarting
When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using restart command [RY(n+2)5, RY(n+4)5].
When "Restart command [RY(n+2)5, RY(n+4)5]" is ON
(1) If the "Axis operation status (RWrn+7, RWrn+15)" is stopped, positioning to
the end point of the positioning data will be restarted from the stopped position
regardless of the absolute method or incremental method.
(2) When "Axis operation status (RWrn+7, RWrn+15)" is not stopped, the warning
"restart not possible" (warning code: 104) will be applied, and the restart
command will be ignored.
[Example for incremental method]
The restart operation when the axis 1 movement amount is 300, and the axis 2
movement amount is 600 is shown below.
4
00
200
100
100 300 700
400
200
300 700
100
100
Axis 1
Stop position due to stop cause
Designated end
point position
Start point
address
Restart
Axis 2
Stop position
after restart
Operation
during restart
Axis 1
Stop position due to stop cause
Axis 2
Reference
If the positioning start signal [RY(n+1)0, [RY(n+1)1]/external start signal is turned
ON while the "Axis operation status (RWrn+7, RWrn+15)" is waiting or stopped,
positioning will be restarted from the start of the positioning start data regardless of
the absolute method or incremental method.
(Same as normal positioning.)
[Example for incremental method]
The positioning start operation when the axis 1 movement amount is 300 and the
axis 2 movement amount is 600 is shown below.
400
200
100
100 300 700
500
200
300 900
100
100
Axis 1
Stop position due to stop cause
Designated
end point
position
Start point
address
Axis 2
Axis 1
Stop position due to stop cause
Axis 2
Positioning
start
Stop position
after start
Operation dur-
ing positioning
start