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Mitsubishi Electric MELSEC Q Series User Manual page 237

Positioning module
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(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.
v
Speed change
Speed control
Position control
Speed-position switching
command signal (CHANGE)
(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.
Start signal
OPR start signal (Y20)
Absolute positioning start signal
(Y21)
Forward start signal (Y22)
Reverse start signal (Y23)
• 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.
CHAPTER 12 STOPPING AND RESTARTING CONTROL
Stop signal
Position control
Speed-position mode
restart signal (Y26)
"
0: Position control mode
×
×
×
×
Positioning speed
Changed speed
t
×: Restart not possible
Positioning mode"
Pr.9
1: Speed-position control switch
mode
×
×
12
: Restart possible
235

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