Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Инструкция по эксплуатации

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5. HOW TO USE THE PROGRAM
5 - 28
(k) Home position return command (ZRT)
Perform a home position return.
Set the home position with a parameter. (Refer to section 5.4.)
With the "ZRT" command, the program proceeds to the next step after the home position return
completion.
POINT
If the home position return has not completed successfully, [AL. 96 Home
position return incomplete warning] occurs. In this case, the program proceeds
to the next step without a stop. Since the home position return is incomplete, the
travel command is invalid.
For precautions for using linear servo motors or fully closed loop system, refer to
section 4.4.15 and 4.4.16.
Command Description
SPN (500) Servo motor speed 500 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
ZRT Home position return d)
MOV (500) Absolute value travel command 500 [×10
STM
μ
m] e)
STOP Program stop
Item Used parameter Setting
Dog type home position
return
[Pr. PT04] "_ _ _ 0"
Home position return
direction
[Pr. PT04] "_ _ 0 _" (Address increasing direction)
Dog input polarity [Pr. PT29]
"_ _ _ 1" (Detects dog when DOG (proximity dog)
is on.)
Home position return speed [Pr. PT05] 100 [r/min]
Creep speed [Pr. PT06] 50 [r/min]
Home position shift distance [Pr. PT07] 0 [×10
STM
μ
m]
Home position return
acceleration time constant
[Pr. PC30] 100 [ms]
Home position return
deceleration time constant
[Pr. PC31] 200 [ms]
Home position return position
data
[Pr. PT08] 0
Home position return speed
(100 r/min)
Acceleration time constant
of home position return
(100 ms)
Z-phase
Proximity dog
Position address
Deceleration time constant
of home position return
(200 ms)
Creep speed
(50 r/min)
b) Acceleration time constant
(200 ms)
a) Servo motor speed
(500 r/min)
c) Deceleration time
constant
(300 ms)
Home position return completion
0 500
e) Absolute value travel command
(500 × 10
STM
μ
m)
d) Home position return command
Servo motor
speed
Forward rotation
0 r/min
Reverse rotation
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