Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.21 Home Position Return
■
Dwell time setting at the home position return retry
Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return
start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position
return retry function.
Dwell time at the home position return retry becomes valid at the time of deceleration stop of the following 2) and 4). (Dwell
time operates with the same value.)
Precautions
• Possible/not possible of home position return retry function by the home position return method is shown below.

: Possible,

: Not possible
• Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lower limit
switch. Home position return retry cannot be executed only in the state of servo ON.
• Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is
started. In this case, a minor error (error codes: 1904H to 1907H) will not occur.
Home position return methods Possible/not possible of home position return retry function
Proximity dog method 
Count method

Data set method

Dog cradle method

Stopper method 
Limit switch combined method

Scale home position signal detection method

Dogless home position signal
reference method Operation A

Operation B 
Operation C

Driver home position return method

CAUTION
• Be sure to set the external limit switch (FLS, RLS) in the upper/lower position of machines. If the home position return retry function is used without external
limit switch, servomotors continue rotating.
Home position
return direction
Home position
return start
Home
position
Zero
point
External limit switch
Proximity
dog
(3)
(2)
(4)
(1) (5)
(6)
(1) It travels to preset direction of home position return.
(2)
(3)
(4)
(5) After a stop, it travels to direction of home position return.
(6)
The temporary stop is made during time
set in the "dwell time at the home position
return retry".
The temporary stop is made during
time set in the "dwell time at the home
position return retry".
If the external upper/lower limit switch turns OFF before the detection of
proximity dog, a deceleration is made and the temporary stop is made
during time set in the "dwell time at the home position return retry".
After a stop, it travels to reverse direction of home position return with
the home position return speed.
A deceleration is made by the proximity dog OFF and the temporary
stop is made during time set in the "dwell time at the home position
return retry".
Home position return ends. At this time, the "dwell time at the home
position return retry" is invalid.