Home Position Return By The Proximity Dog Method 2 - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Home position return by the proximity dog method 2

Proximity dog method 2
Zero point position after proximity dog ON to OFF is home position in this method.
When it passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON the zero point from home position return start to
deceleration stop by proximity dog ON to OFF, operation for "proximity dog method 2" is the same as "proximity dog method
1". (Page 380 Home position return by the proximity dog method 1)
When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) the zero point from home position return
start to deceleration stop by proximity dog ON to OFF, it moves to home position return direction after the servomotor is
rotated one revolution to reverse direction and it passed the zero point, and the first zero point position is set as home position
after proximity dog ON to OFF.
Home position return by the proximity dog method 2
Operation of home position return by proximity dog method 2 for not passing the zero point from home position return start to
deceleration stop by proximity dog ON to OFF is shown below.
V
Home position
Home position
return direction
return speed
(1)
Home position
return start
Home position return speed
1 revolution 1 revolution
Proximity dog
Zero point no passing
Home position return execution
Home position return by the proximity dog method 2 is executed using the servo program. (Page 378 Servo program for
home position return)
5 POSITIONING CONTROL
382
5.21 Home Position Return
(5)
(2)
(3)
Home position
(4)
It travels to preset direction of home position return
(1)
with the home position return speed.
A deceleration is made to the creep speed by the
(2)
proximity dog ON, after that, it travels with the creep
speed. (If the proximity dog turns OFF during a
deceleration, a deceleration stop is made and the
Creep speed
operation for 4) starts.)
(3) A deceleration stop is made by the proximity dog OFF.
(4) After a deceleration stop, it travels for one revolution of
servomotor to reverse direction of home position return
with the home position return speed.
(5)
It travels to direction of home position return with the
home position return speed, the home position return
ends with first zero point after the proximity dog ON to
OFF. (At this time, a deceleration to the creep speed is
not made with the proximity dog OFF to ON. And if the
zero point is not passed because of droop pulses for
processing of (4) and (5), a minor error (error code:
197AH) will occur, a deceleration stop is made and the
home position return does not end normally. In this
case, adjust a position of proximity dog OFF.)
Zero point
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".