Mitsubishi Electric Q172CPU, Руководство по программированию

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8 AUXILIARY AND APPLIED FUNCTIONS
8.5.16 Execution of home position return
The home position return is executed using the CHGA instruction.
[Control details]
(1) Home position return is executed by the home position return method specified
with the home position return data (Refer to Section 8.5.1).
Refer to the following sections for details of the home position return methods :
• Proximity dog type 1................... Section 8.5.2
• Proximity dog type 2................... Section 8.5.3
• Count type 1............................... Section 8.5.4
• Count type 2............................... Section 8.5.5
• Count type 3............................... Section 8.5.6
• Data set type 1............................ Section 8.5.7
• Data set type 2............................ Section 8.5.8
• Dog cradle type........................... Section 8.5.9
• Stopper type 1............................ Section 8.5.10
• Stopper type 2............................ Section 8.5.11
• Limit switch combined type........ Section 8.5.12
[Program]
A program which executes a home position return using the CHGA instruction is
shown below.
• Program example
SP.CHGA K0 M0 D0 H3E1
RST M100
M100
To self CPU
high speed
interrupt accept
flag from CPU
U3E1\
G48.0
"J4"
M0
Normal complete program
M1
Abnormal complete program
M1
Start accept flag
of the axis No.4
(CPU No.2)
U3E1
\G516.0
Program which execute the home position return of the axis No.4 of the Motion CPU
(CPU No.2) from PLC CPU(CPU No.1).
[Cautions]
If the home position is not within the in-position range of servo parameter, it does not
mean having reached the home position data and the home position return does not
end in the proximity dog type, count type, data set type 1, dog cradle type, or limit
switch combined type home position return. In this case, adjusts the in-position range
of servo parameter or position control gain.