Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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378
5 POSITIONING CONTROL
5.21 Home Position Return
Servo program for home position return
The home position return executed using the ZERO servo instruction.

: Must be set,

: Set if required
*1 Only when the reference axis speed is specified
Processing details
Home position return is executed by the home position return method specified with the home position return data (

Page
178 Home Position Return Data).
Refer to the following for details of the home position return methods.
Home position return methods Reference
Proximity dog method 1

Page 380 Home position return by the proximity dog method 1
Proximity dog method 2

Page 382 Home position return by the proximity dog method 2
Count method 1  Page 384 Home position return by the count method 1
Count method 2

Page 385 Home position return by the count method 2
Count method 3

Page 386 Home position return by the count method 3
Data set method 1  Page 388 Home position return by the data set method 1
Data set method 2  Page 389 Home position return by the data set method 2
Data set method 3

Page 390 Home position return by the data set method 3
Dog cradle method

Page 391 Home position return by the dog cradle method
Stopper method 1  Page 394 Home position return by the stopper method 1
Stopper method 2  Page 395 Home position return by the stopper method 2
Limit switch combined method

Page 396 Home position return by the limit switch combined method
Scale home position signal detection method

Page 398 Home position return by the scale home position signal detection method
Dogless home position signal reference method  Page 400 Home position return by the dogless home position signal reference method
Driver home position return method  Page 405 Home position return by the driver home position return method
Positioning data set in servo instructions
Common Servo
instruction
Positioning
method
Number
of
control
axes
Arc OSC Parameter block Others
Parameter block No. Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S-curve ratio Advanced S-curve acceleration/deceleration Bias speed at start Repeat condition Program No. Command speed (Continuous trajectory) Skip FIN acceleration/deceleration WAIT-ON/OFF Fixed position stop Axis Address/travel value Command speed Dwell time M-code Torque limit value Auxiliary point Radius Central point Number of pitches Starting angle Amplitude Frequency Interpolation control unit Speed limit value Reference axis No.
*1
Fixed position stop acceleration/deceleration time
ZERO
«
1
¨