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Chapter 5 Data Used for Positioning Control
(g) Restart can also be executed while the positioning start signal is ON.
However, do not set the positioning start signal from OFF to ON during a
stop.
If the positioning start signal is switched from OFF to ON, positioning is
performed from the positioning data number set in "[Cd.3] Positioning
start No." or from the positioning data number of the specified point.
(h) When positioning is terminated by a continuous-operation interrupt
request, restart cannot be performed.
If a restart request is executed, the warning "Restart not possible"
(warning code: 104) occurs.
[Operation at emergency stop input] [Operation at restart]
Emergency stop input
(Last command position)
Stop position at
servo OFF
Movement during
servo OFF
Restart operation
Last command
position
Output at once
at restart
(Present value at servo ON)
Stop position at servo OFF
[Pr.89] Manual pulse generator/Incremental synchronous encoder input type
selection
Set the input type from the manual pulse generator/incremental synchronous
encoder. (Only the value specified against the axis 1 is valid.)
0: Differential output type
1: Voltage output/open collector type
Note) The "Manual pulse generator/Incremental synchronous encoder input type
selection" is included in detailed parameters 2, but it will be valid at the
rising edge (OFF to ON) of the PLC READY signal [Y0].
Refer to Section 3.4 "Specifications of interfaces with external devices" for details.
[Pr.90] Operation setting for speed-torque control mode
Operation setting of the speed control mode or torque control mode at the speed-
torque control is executed.
(1) Torque initial value selection
Set the torque initial value at switching to torque control mode.
0: Command torque ......... Command torque value at switching. (following axis
control data)
Switching to torque control mode:
"[Cd.143] Command torque at torque control mode"
1: Feedback torque .......... Motor torque value at switching.
(2) Speed initial value selection
Set the initial speed at switching from position control mode to speed control
mode.
0: Command speed ......... Speed that position command at switching is
converted into the motor speed.
1: Feedback speed .......... Motor speed received from servo amplifier at
switching
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