Mitsubishi Electric MR-JE-C, Instruction Manual

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12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE
12 - 30
12.4.6 Torque limit changing data set type
POINT
Torque limit changing data set type home position return can be used only in the
indexer method.
When the data set type homing is selected, [AL. 52 Error excessive] is not
detected.
If the servo motor is rotated in the homing mode and the mode is changed to
automatic mode without homing, the following may occur.
1. [AL. 52] may occur.
2. Even if [AL. 52] does not occur, the servo motor moves when the start signal
is inputted, in order to compensate the difference between the current
position and the command position. Watch out for the servo motor rotation
due to the compensation the gap to zero between command position and
current position.
When [AL. 90 Home position return incomplete warning] occurs, performing a
homing automatically cancels the alarm.
When [AL. 25 Absolute position erased] occurs, cycling the power cancels the
alarm.
When setting any position as home, use the torque limit changing data set type home position return. The
JOG operation, the manual pulse generator operation, and others can be used for the travel. With this home
position return, torque will not be generated simultaneously at switching to the home position return mode.
The shaft can be rotated with an external force to set any home position.
Additionally, SIG is not used. SIG is disabled even if turn off.
(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Homing mode selection MD0 (Operation mode selection 1) Switch off MD0.
MD1 (Operation mode selection 2) Switch off MD1.
Data set type home position
return [Pr. PT45 Home position return types] Select the torque limit changing data set type with "-3".
Station home position shift
distance (Note 1, 2) [Pr. PT40 Station home position shift distance] Set a shift distance of the station home position
(station No. 0) for the home position return completion.
Note 1. The setting of the station home position shift distance is disabled at home position return. Cycling the power will enable the
setting.
2. [Pr. PT40] is enabled as an offset to the position that the home position return is performed. If a larger value than the in-
position range is set to [Pr. PT40], the completion output of positioning will not turn on (short circuit) at the first power on after
home position return.