Mitsubishi Electric MELSERVO-JE, Инструкция по эксплуатации

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6. SERVO MOTOR DRIVING
6 - 25
(d) Method -4 and -36 (stopper type home position return)
POINT
Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.
The following figure shows the operation of Homing method -4. The operation direction of Homing
method -36 is opposite to that of Homing method -4.
Statusword bit 12
Homing attained
ON
OFF
Servo motor speed
Controlword bit 4
Homing operation start
ON
OFF
Statusword bit 10
Target reached
ON
OFF
Acceleration time
constant
Home position return speed
Home position return
position data
10 ms or shorter
5 ms or longer
ON
OFF
TLC (Limiting torque)
Torque limit value
Torque limit value (Note 1) [Pr. PT11] Torque limit value (Note 1)
(Note 2)
Stopper time [Pr. PT10]
Reverse
rotation
0 r/min
Forward
rotation
Stopper
Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (60E0h) is applied. When Method -36 is set, the
torque limit value of Negative torque limit value (60E1h) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.
Home position return start position
Home position
return direction
Servo motor speed
Forward
rotation
0 r/min
The servo motor stops due to
the occurrence of [AL. 90].
Stroke end
When the stroke end is detected