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CHAPTER 12 STOPPING AND RESTARTING CONTROL
12
12.2 Restarting the Speed-position Control Switch Mode
(b) When speed is changed during positioning
After a stop following the input of Stop signal (STOP), if Speed-position mode restart signal (Y26) is turned on,
the positioning restarts according to the positioning speed set in the positioning data. The positioning does not
restart at the new speed.
(c) Precautions for control
• The following table indicates settings and start signal conditions to restart control. If Speed-position mode
restart signal (Y26) is turned on in a condition "Restart possible", the error "Restart error" (error code: 85)
occurs.
: Restart possible
×: Restart not possible
• In the speed-position control switch mode, if Speed-position mode restart signal (Y26) is turned on in a
status other than stop, the error "Restart error" (error code: 85) occurs and the axis does not act.
Start signal
" Positioning mode"
0: Position control mode
1: Speed-position control switch
mode
OPR start signal (Y20) × ×
Absolute positioning start signal
(Y21)
××
Forward start signal (Y22) ×
Reverse start signal (Y23) ×
v
t
Speed change
Stop signal
Speed control Position control Position control
Changed speed
Positioning speed
Speed-position switching
command signal (CHANGE)
Speed-position mode
restart signal (Y26)
Pr.9