Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
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• Home position shift function is used to rectify a home position stopped by the home position return. When
there are physical restrictions in the home position by the relation of a proximity dog setting position, the
home position is rectified to the optimal position. Also, by using the home position shift function, it is not
necessary to care the zero point for mounting of servomotor.
• After proximity dog ON, if the travel value including home position shift amount exceeds the range of "-
2147483648 to 2147483647" [

10
-1

m,

10
-5
inch,

10
-5
degree, pulse], "travel value after proximity dog
ON" of monitor register is not set correctly.
Torque limit value at the creep speed
Torque limit value at the creep speed (on press) is set in the case of using the pressed position as the home position by the
home position return of stopper method 1, 2.
Valid/invalid of the torque limit value at the creep speed by the home position return method is shown below.

: Valid

: Invalid
Operation setting for incompletion of home position return
Set the operation for executing or not executing the servo program when the state of the home position return request signal
is ON.
When the home position return request signal is ON while G-code control is running, a minor error (error code: 1FC1H (details
code: 0116H)) occurs regardless of this setting.
Operation in selecting "1: Not execute servo program"
• Servo program cannot be executed if the "[St.1069] Home position return request (R: 32n/Q: M2409+20n)" is ON.
However, the servo program can be executed even if the "[St.1069] Home position return request (R: 32n/Q:
M2409+20n)" is ON in the case of only servo program of home position return instruction (ZERO).
• At the time of servo program start, when "1: Not execute servo program" is selected in the operation setting for
incompletion of home position return and the axis which the "[St.1069] Home position return request (R: 32n/Q:
M2409+20n)" is ON exists also with one axis, a minor error (error code: 19A6H) occurs and the servo program does not
start.
• JOG operation and manual pulse generator operation can be executed regardless of the "[St.1069] Home position return
request (R: 32n/Q: M2409+20n)" ON/OFF.
• Same operation is executed regardless of absolute position system or not. When "1: Not execute servo program" is
selected in the case of not absolute position system, the "[St.1069] Home position return request (R: 32n/Q:
M2409+20n)" turns ON at power supply ON or reset of Multiple CPU system and power supply ON of servo amplifier.
Therefore, it must be executed home position return before a servo program start.
• Same operation is executed in TEST mode.
Home position return methods Valid/invalid of home position shift amount
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

Driver home position return method
