Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

Страница: 402 / 482

400
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the dogless home position signal
reference method
Dogless home position signal reference method
Home position return is executed using home position signal (zero point). This is a home position return method that does not
use proximity dogs.
Home position, home position return operation, home position return data (home position return retry function, dwell time at
the home position return retry) differ by the servo amplifier connected as shown below.
Also, set the servo parameter "Function selection C-4 (PC17) (Selection of home position setting condition)" as follows.
*1 For the home position return operations, refer to home position return by the dogless home position signal reference method.
• Operation A (

Page 401 Operation A)
• Operation B (  Page 402 Operation B)
• Operation C (

Page 402 Operation C)
*2 During semi closed loop control is equivalent to MR-J3-  B and MR-J4-  B (standard).
Servo amplifier model Linear
encoder type Home position Home
position
return
operation
*1
Home position return
data servo parameter
"Function selection C-
4 (PC17)
(Selection of home
position setting
condition)"
Home
position
return retry
function Dwell time
at the home
position
return retry
MR-J4-  B
MR-J4W-  B
MR-J4-  B-RJ
MR-J4-  B-LL
Standard

Home position
signal (zero point) Operation B Invalid 1: Not need to pass motor
Z phase after the power
supply is switched on.
Direct drive
motor  Operation A Valid 0: Need to pass motor Z
phase after the power
supply is switched on.
Linear servo Absolute position
type Position where
address of absolute
linear encoder
becomes 0. Operation C Invalid Both
Incremental type Reference mark Operation A Valid 0: Need to pass motor Z
phase after the power
supply is switched on.
Fully closed
loop control
*2
Absolute position
type Position where
address of absolute
linear encoder
becomes 0. Operation C Invalid Both
Incremental type Reference mark Operation A Valid 0: Need to pass motor Z
phase after the power
supply is switched on.
MR-J3-  B
MR-J3-  B Safety

Home position
signal (zero point) Operation B Invalid 1: Not need to pass motor
Z phase after the power
supply is switched on.
MR-J3W-  B

MR-J3-  B-RJ004
MR-J3-  B Safety
Absolute position
type Position where
address of absolute
linear encoder
becomes 0. Operation C Both
Incremental type Reference mark Operation A Valid 0: Need to pass motor Z
phase after the power
supply is switched on.
MR-J3-  B-RJ006
*2
MR-J3-  B Safety
Absolute position
type Position where
address of absolute
linear encoder
becomes 0. Operation C Invalid Both
Incremental type Reference mark Operation A Valid 0: Need to pass motor Z
phase after the power
supply is switched on.
MR-J3-  B-RJ080W

Home position
signal (zero point)