Home Position Return By The Count Method 1 - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Home position return by the count method 1

Count method 1
After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in
this method. When the zero point is not passed ("[St.1066] Zero pass "(R: M32406+32n/Q: M2406+20n)" OFF) until it travels
the distance set in the "travel value after proximity dog ON" from home position return start, an error will occur and home
position return is not executed. However, when "1: Not need to pass motor Z phase after the power supply is switched on" is
selected in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter), if the zero point is not
passed until it travels the distance set in the "travel value after proximity dog ON" from home position return start, the home
position return can be executed.
The travel value after proximity dog ON is set in the home position return data (Page 178 Home Position Return Data).
Home position return by the count method 1
Operation of home position return by count method 1 for passing the zero point during travel of specified distance set in the
"travel value after proximity dog ON" from the home position return start is shown below.
V
Home position
return start
Proximity dog
Home position return execution
Home position return by the count method 1 is executed using the servo program. (Page 378 Servo program for home
position return)
Cautions
• Home position return and continuously start of home position return are also possible in the proximity dog ON in the count
method 1. When the home position return or continuously start of home position return are executed in the proximity dog
ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
• When the zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) until it travels the distance
set in the "travel value after proximity dog ON" from home position return start, a minor error (error code: 197AH) will occur,
a deceleration stop is made and home position return does not end normally. When a distance between home position
return start position and home position is near and a zero point is not passed, select the count method 3.
• When the "travel value after proximity dog ON" is less than the deceleration distance from "home position return speed" to
"creep speed", a minor error (error code: 1A57H) will occur and deceleration stop is made.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
5 POSITIONING CONTROL
384
5.21 Home Position Return
Home position
return direction
Home position
return speed
Creep speed
ON
"Travel value after
proximity dog ON"
of the home
position return data
*: After the proximity dog ON, positioning of the
"travel value after the proximity dog ON" of
the home position return data and the
positioning from the position to zero point.
The distance to the zero point is
based on the servo data
t
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".