Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 393 / 482

5 POSITIONING CONTROL
5.21 Home Position Return
391
5
Home position return by the dog cradle method
Dog cradle method
After deceleration stop by the proximity dog ON, it travels to reverse direction. If the zero point is passed ("[St.1066] Zero pass
(R: 32n/Q: M2406+20n)" ON) after traveling to reverse direction and turning the proximity dog OFF, a deceleration
stop is made. It then moves in the direction of home position return again with creep speed and the first zero point after
proximity dog ON is home position in this method.
Home position return by the dog cradle method
Operation of home position return by the dog cradle method for setting the proximity dog in the home position return direction
is shown below.
Home position return execution
Home position return by the dog cradle method is executed using the servo program (

Page 378 Servo program for home
position return).
V
(1)
(2)
(3)
(4)
Zero point
ON
Proximity dog
(3)
(2)
(4)
(1)
It travels to preset direction of home position return with
the home position return speed, and a deceleration stop
is made by the proximity dog ON.
After a deceleration stop, it travels to reverse direction of
home position return with the home position return speed.
A deceleration stop is made when proximity dog turns
OFF and zero point is passed.
After a deceleration stop, it travels to direction of home
position return with the creep speed, the home position
return ends with first zero point after the proximity dog ON.
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".
Acceleration time
º
Deceleration time
Home position
return speed
Home position
return direction
Home position
return start
Creep speed
Home position