Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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5 POSITIONING CONTROL
5.21 Home Position Return
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5
5.21
Home Position Return
• Use the home position return at the power supply ON and other times where decision of axis is at the machine home
position is required.
• The home position return data must be set for each axis to execute the home position return. Refer to the following details
of the home position return data. (

Page 178 Home Position Return Data)
• The home position return methods that are available are 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, and driver home position return method. Select the optimal home position return method
for the system configuration and applications with reference to the following.
*1 The signal in parentheses is required when the home position return retry function is used.
Home position return methods Reference position External signal
*1
Applications
Proximity dog
method Proximity dog
method 1 Motor zero point DOG
(FLS/RLS) • It is used in the system which can surely pass a zero point from
the home position return start to proximity dog ON

OFF.
• When the proximity dog is ON, it cannot be started.
Proximity dog
method 2 • This method is valid when the stroke range is short and
"proximity dog method 1" cannot be used.
• When the proximity dog is ON, it can be started.
Count method Count method 1 It is used in the system which can surely pass a zero point from
the home position return start to point of travel distance set as
"travel value after proximity dog ON".
Count method 2 Command position This method is used when the proximity dog is near the stroke
end and the stroke range is narrow.
Count method 3 Motor zero point This method is valid when the stroke range is short and "count
method 1" cannot be used.
Data set
method Data set method 1 Command position

• It is used in a system where external input signals such as dog
signal are not set in the absolute position system.
• This method is valid for the data set independent of a deviation
counter value.
Data set method 2 Motor actual position It is used in a system where external input signals such as dog
signal are not set in the absolute position system.
Data set method 3 It is used to perform home position return during servo OFF.
Dog cradle method Motor zero point DOG
(FLS/RLS) • Home position is zero point of servo motor immediately after
the proximity dog signal ON.
• It is easy to set the position of proximity dog, because the
proximity dog is set near the position made to the home
position.
Stopper
method Stopper method 1 Motor actual position DOG This method is valid to improve home position accuracy in order
to make the home position for the position which stopped the
machine by the stopper.
Stopper method 2 
Limit switch combined method Motor zero point FLS (for forward
home position return
direction)/RLS (for
reverse home position
return direction) It is used in a system where the proximity dog signal cannot be
used and only external limit switch can be used.
Scale home position signal detection
method DOG • The travel direction is reversed at the proximity dog ON, and
home position is encoder zero point after reversal.
• This method is valid to make the home position for the load
side at the linear motors or direct drive motors use.
Dogless home position signal
reference method (FLS/RLS) • It is used in a system where proximity dog signal cannot be
used and stops at the zero point of servo motor.
• Home position return operation differs by servo amplifier.
Driver home position return method Position in driver
settings

The driver performs home position return operation
autonomously according to the settings on the driver-side.