Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the scale home position signal detection
method
Scale home position signal detection method
Home position return is executed using home position signal (zero point). After detecting the proximity dog, it makes to travel
to reverse direction of home position return. And the detecting position of home position signal (zero point) is home position in
this method.
Home position return by the scale home position signal detection method
Operation of home position return by the scale home position signal detection method for setting the proximity dog in the
home position return direction is shown below.
Home position return execution
Home position return by the scale home position signal detection method is executed using the servo program (

Page 378
Servo program for home position return).
Cautions
• When home position is in the proximity dog, if home position return is executed again after home position return end, a
minor error (error code: 1940H) will occur, the home position return is not executed.
• Set "0: Need to pass motor Z phase after the power supply is switched on" in the "function selection C-4 (PC17)" of servo
parameter (expansion setting parameter). When "1: Not need to pass motor Z phase after the power supply is switched on"
is set, a minor error (error code: 1978H) will occur at home position return by the scale home position signal detection
method starting, the home position return is not executed.
• When "[St.1066] Zero pass (R: 32n/Q: M2406+20n)" turns on by passing zero point at home position return start,
this signal turns off once at the reverse direction of home position return start and turns on again at the next zero point
passage.
V
Proximity
dog
Home
position
Creep speed
(1)
(3)
(4)
(2)
Zero point
Home position
return direction
Home position
return speed
Home position
return start
It travels to preset direction of home position return
with the home position return speed, and a
deceleration stop is made by the proximity dog ON.
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
The travel value in
this range is stored in
the monitor register
"home position return
re-travel value".
External limit switch
After a deceleration stop, it travels to reverse
direction of home position return with the home
position return speed.
Home position signal (zero point) is detected, and
a deceleration stop is made.
After a deceleration stop, it travels to preset
direction of home position return with the creep
speed, the home position return ends with the
position of home position signal (zero point).
(1)
(3)
(4)
(2)