Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 68 / 274

6. SERVO MOTOR DRIVING
6 - 9
6.1.3 Directions for use
POINT
To execute a home position return securely, move the servo motor to the
opposite stroke end with jog operation (jg) from the master station (controller) or
by using other means before starting a home position return.
When changing the mode after the home position return completion, set Target
position (607Ah) to "0", and change the control mode.
(1) Home position return method
Set Homing method (6098h).
Set Speed during search for switch and Speed during search for
zero of Homing speed (6099h).
Set Homing acceleration (609Ah).
Cycle the power.
Specify Homing mode (hm) with Modes of operation (6060h).
Home position return completion
Set 0Fh in Controlword (6040h).
→
Operation enable
Check that bit 12 (Homing attained) of Statusword (6041h) is "1".
Check that the control mode has been switched to Homing mode (hm) with Modes of
operation Display (6061h).
Save the object in the EEP-ROM by using Save all parameters in Store parameters (1010h).
Set 1Fh in Controlword (6040h) to start home position return.
Save the object in the EEP-ROM by using Save all parameters in Store parameters (1010h).
Skip if the settings do
not need to be
changed.
Save the parameter in
the EEP-ROM if
necessary.
[Precondition setting]
Set an IP address that can communicate with the master
station (controller).
Set the point table method or the indexer method in "Control
mode selection" of [Pr. PA01].