Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 183 / 482

3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
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3
Travel value after proximity dog ON
The travel value after proximity dog ON is set to execute the count method home position return.
After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value.
Set the travel value after proximity dog ON more than the deceleration distance from the home position return speed.
Ex.
The deceleration distance is calculated from the speed limit value, home position return speed, creep speed and deceleration
time as shown below.
A home position return must be made after the servomotor has been rotated more than one revolution to pass
the axis through the Z-phase (motor reference position signal).
For a proximity dog method or count method home position return, the distance between the point where the
home position return program is started and the deceleration stop point before re-travel must be such that the
servomotor is rotated more than one revolution to pass the axis through the Z-phase.
When a data set method home position return is made in an ABS (absolute position) system, the servomotor
must also have been rotated more than one revolution by JOG operation or the like to pass the axis through
the Z-phase.
When "1: No servomotor Z-phase pass after power ON" is selected in the "function selection C-4 (PC17)" of
servo parameter (expansion setting parameter), even if it does not pass zero point, the home position return
can be executed and restrictions are lost.


V
Z
2000
T
B

V
Z
V
P
T
B
t
Deceleration time: T
B
= 300 ms
[Home position return operation]
Home position return speed: V
Z
= 10 kpps
Speed limit value: V
P
= 200 kpps
Creep speed: V
C
= 1 kpps
Real deceleration time : t = T
B

V
Z
V
P
=
 
t
1
2 V
Z
1000
=
10
 10
3
2000
300

10

10
3
200

10
3
=
= 75. . . . . . Set 75 or more
[Deceleration distance (shaded area under graph)]
Converts in speed per millisecond