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6.5.5
Restart program
When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the
stopped position to the position control end point by using the "restart command" ([Cd.6] Restart command).
("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing
the remaining positioning from the stopped position during position control of incremental system such as the INC
Linear 1. (Calculation of remaining distance is not required.)
(1) Restart operation
After a deceleration stop by the stop command is completed, write "1" to the "[Cd.6] Restart command" with
"[Md.26] Axis operation status" is "Stopped" and the positioning restarts.
Axis 1
Positioning with positioning data No. 11
(2) Restrictions
• Restarting can be executed only when the "[Md.26] Axis operation status" is "Stopped (the deceleration stop
by stop command is completed)". If the axis operation is not "stopped", restarting is not possible. In this
case, a warning "Restart not possible" (warning code: 104) will occur, and the process at that time will be
continued.
• Restarting can be executed even while the positioning start signal is ON. However, make sure that the
positioning start signal does not change from OFF to ON while "[Md.26] Axis operation status" is "Stopped".
If the signal is changed from OFF to ON while "[Md.26] Axis operation status" is "Stopped", the normal
positioning (the positioning data set in "[Cd.3] Positioning start signal") is started.
• If the PLC READY signal is turned ON from OFF while "[Md.26] Axis operation status" is "Stopped", the
positioning cannot be restarted. If restart is requested, a warning "Restart not possible" (warning code: 104)
will occur.
• Do not execute restart while the stop command is ON. If restart is executed while stopped, an error "Stop
signal ON at start" (error code: 106) will occur, and the "[Md.26] Axis operation status" will change to "Error".
Thus, even if the error is reset, the operation cannot be restarted.
• If positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If
restart is requested, a warning "Restart not possible" (warning code: 104) will occur.
• When stopped with interpolation operation, write "1: Restarts" into "[Cd.6] Restart command" for the
reference axis, and then restart.
• If any of reference partner axes executes the positioning operation once, a warning "Restart not possible"
(warning code: 104) will occur, and the positioning cannot restarts.
• When the machine OPR and fast OPR is stopped, an error "OPR restart not possible" (error code: 209) will
occur and the positioning cannot restarts.
298
Positioning data No. 11
continues with restart
command
Stop with stop command
Positioning with positioning data No. 10
Positioning with positioning data No. 12
Axis 2
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Troubleshooting
