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Chapter 5 Data Used for Positioning Control
(2) Setting method
When performing restart at the time servo OFF changes to ON, set the restart
allowable range in the following buffer memory.
Setting value buffer memory
address
QD77MS2
QD77MS4
QD77MS16
Item Setting range
Default value
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 in which the restart allowable range for axis 1 is set 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 QD77MS.
(3) Precautionary notes
(a) The difference between the last command position when the servo turned
OFF and the present value when the servo turned ON, is output at the
first operation of restart. If the restart allowable range is large at this time,
an overload may occur on the servo side.
Set the "restart allowable range when servo OFF changes to ON" to a
value where the mechanical system will not be affected by a signal
output.
(b) The restart servo OFF changes to ON is valid only for the first time servo
OFF changes to ON. From the second time servo OFF changes to ON,
the setting for restart allowable range when servo OFF changes to ON is
disregarded.
(c) Execute servo OFF when the mechanical system is in complete stop
state. The restart when servo OFF changes to ON cannot be applied to a
system in which the mechanical system operated by external pressure or
other force while the servo is OFF.
(d) Restart can only be executed while the operating status of the axis is
"stop". Restart cannot be executed when the operation status of the axis
is other than "stop".
(e) If the PLC READY signal is changed from OFF to ON while servo is OFF,
restarting is not possible.
If restart is requested, a warning "Restart not possible" (warning code:
104) will occur.
(f) Do not restart while a stop command is ON.
If restart is executed while stopped, an error (error code 106: Stop signal
ON at start) is generated, and the operating status of the axis becomes
"ERR".
Therefore, restart cannot be performed even if the error is reset.
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