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6.2.1 Stopper type home position return
In stopper type home position return, a machine part is pressed against a stopper using to make a home position return
and that position is defined as the home position.
After completion of stopper type home position return, please move to any position (Not pressed position) from the
pressing position.
If over a certain period of time in the state of the pressing position, an overload alarm (AL 50, AL 51) occurs for driver
protection.
(1) Devices and Pparameters
Configure the input devices and parameters as shown below.
Item
Device/Parameter used
Description
Manual home position return
mode selection
Automatic/manual selection (MD0)
Turn MD0 ON.
Point table No./Program No.
selection 1 to 3 (DI0 to DI2)
Point table metho Point table: Select the home position return mode by turning OFF DI0,
DI1 and DI2.
Program metho Program: Select a program that has the home position return "ZRT"
command.
Stopper type home position
return
Parameter No. PE03
3: Stopper type home position return is selected.
Home position return direction
Parameter No. PE03
Select the home position return direction.
Home position return speed
Parameter No. PE04
Set the speed till contact with the stopper.
Stopper time
Parameter No. PE10
Time from when the part makes contact with the stopper to when home
position return data is obtained to output home position return completion
(ZP).
Stopper type home position
return torque limit value
Parameter No. PE11
Set the servo motor torque limit value for execution of stopper type home
position return.
Home position return
Acceleration time constant
Parameter No. PE07
Set the Acceleration time constant during a home position return.
Home position return position
data
Parameter No. PE08
Set the current position at home position return completion.
Note
* To set [PE**], set parameter write inhibit [PA19] to "00E".
