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

Home position return by the stopper method 1

Stopper method 1
Position of stopper is home position in this method.
It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration
starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the
"torque limit value at the creep speed" and "creep speed" of home position return data. Real position of servomotor at the time
of detection for turning the torque limiting signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.
Home position return by the stopper method 1
Operation of home position return by the stopper method 1 is shown below.
Torque limit value
[St.1076] Torque limiting
(R: M32416+32n/Q: M2416+20n)
Home position return execution
Home position return by the stopper method 1 is executed using the servo program (Page 378 Servo program for home
position return).
Cautions
• A zero point does not must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning on the
power supply and executing home position return.
• Home position return retry function cannot be used in the stopper method 1.
• Set the torque limit value after reaching the creep speed for system. When the torque limit value is too large, servomotors
or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the
torque limiting before pressing the stopper and ends the home position return.
• If the home position return is executed again after home position return completion, a minor error (error code: 197BH) will
occur, the home position return is not executed.
• Home position return is started during the proximity dog ON, it is started from the "creep speed".
5 POSITIONING CONTROL
394
5.21 Home Position Return
Home position
Home position
V
return speed
return direction
Home position
return start
Torque limit value of parameter
block at the home position return
Proximity dog
OFF
*: "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.
Real position of servomotor
at this point is home position.
Stopper
Creep speed
Time which stops rotation
of servomotors forcibly by
the stopper
Home position return data
"torque limit value at the creep speed"
ON
t