Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.21 Home Position Return
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5
Home position return by the data set method 2
Data set method 2
The proximity dog is not used in this method.
Home position return by the data set method 2
Home position is the real position of servo motor at the home position return operation.
Home position return execution
Home position return by the data set method 2 is executed using the servo program (

Page 378 Servo program for home
position return).
Cautions
• A zero point must be passed ("[St.1066] Zero pass (R: 32n/Q: M2406+20n)" ON) between turning on the power
supply and executing home position return. If home position return is executed without passing a zero point once, minor
error (error code: 197AH) occurs. If minor error (error code: 197AH) occurred, perform the home position return again, after
reset the error and turn the servo motor at least one revolution by the JOG operation. The zero point passing can be
confirmed with the "[St.1066] Zero pass (R: 32n/Q: M2406+20n)". 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), even if it does not pass zero point at the servo amplifier power ON, the home position return
is possible because the "[St.1066] Zero pass (R: 32n/Q: M2406+20n)" turns ON.
• The home position return data required for the data set method 2 are the home position return direction and home position
address.
Home position return
by the servo program
start instruction
Home position is the
real position at the
home position return
Real position of
machine at the home
position return start
Command position
at the home
position return start
Machine travel range