380
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the proximity dog method 1
Proximity dog method 1
Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass ("[St.1066] Zero
pass (R: 32n/Q: M2406+20n)" OFF) the zero point from home position return start to deceleration stop by proximity
dog ON to OFF, an error will occur and home position return is not executed. However, when "1: Not need to pass motor Z
phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter (expansion
setting parameter), if it does not pass zero point from home position return start to deceleration stop by proximity dog ON to
OFF, the home position return can be executed.
Home position return by the proximity dog method 1
Operation of home position return by proximity dog method 1 for passing ("[St.1066] Zero pass (R: 32n/Q:
M2406+20n)" ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown
below.
Home position return execution
Home position return by the proximity dog method 1 is executed using the servo program. (
Cautions
• Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity
dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the
home position.
Creep speed
Home position
return start
V
Home position return direction
Home position return speed
Proximity dog
ON
OFF
Zero point
t
*:
A deceleration stop occurs after the
proximity dog OFF. Positioning is carried
out from this position to the zero point.
The distance to the zero point is
based on the servo data.
The travel value in this range is stored in the
monitor register "travel value after proximity dog
The travel value in this range is stored in the monitor
register "home position return re-travel value".
ON
Proximity dog
Setting creep speed
Home position return speed
OFF
Zero point
The zero point is passed during deceleration
stop by the proximity dog OFF.
Zero point of this range does not become the home position.
The next zero point becomes the home position.
Summary of Contents for MELSEC iQ-R16MTCPU
Page 2: ......
Page 477: ...APPENDICES Appendix 1 Processing Times of the Motion CPU 475 A MEMO ...
Page 481: ......
