Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.21 Home Position Return
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• When it starts in the proximity dog, the zero point is not passed ("[St.1066] Zero pass (R: 32n/Q: M2406+20n)"
OFF) at the time of the proximity dog is turned OFF during travel to reverse direction of home position return. It continues to
travel with home position return speed until the zero point is passed. The zero point is passed again during deceleration by
zero point pass, the home position becomes this side compared with the case to pass zero point at the time of the proximity
dog OFF.
• If the zero point is passed during deceleration, the nearest zero point from deceleration stop position to home position
return direction is set as the home position.
Home position
(1)
(2)
(3)
(1)
(2)
(3)
Home position
return speed
Home position
return direction
Home position
return start
Creep speed
It travels to preset reverse direction of home
position return with the home position return
speed.
It continues to travel after proximity dog turns
OFF, and a deceleration stop is made when
zero point is passed.
After a deceleration stop, it travels to direction
of home position return with the creep speed,
and the home position return ends with first
zero point after the proximity dog ON.
Zero point
Proximity dog
Acceleration time
º
Deceleration time
V
Zero point
ON
(3)
(2)
(4)
(1)
(1)
(2)
(3)
(4)
Creep speed
Home position
return direction
Home position
return speed
Home position
return start
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.
If the zero point is passed by the proximity dog OFF, a
deceleration stop is made. (The zero point is passed
during deceleration.)
After a deceleration stop, it travels to the nearest zero
point of home position return direction with the creep
speed, and the home position return ends.
The travel value in this range
is stored in the monitor register
"home position return re-travel
value".
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
Home
position
Proximity dog
Acceleration time
º
Deceleration time
V