Mitsubishi Electric MELSEC iQ-R Series User Manual page 170

■When MC_Stop (forced stop) is executed
AxisName.Md.ActualVelocity
MC_Stop
MC_Home
CommandAborted
AxisName.Md.AxisStatus
AxisName.Md.Driver_Mode
AxisName.Md.Homing_Request
AxisName.Md.Homing_Complete
AxisName.Md.Homing_Status
• When MC_Stop is turned TRUE at homing, the "HALT" signal is sent to the driver. When using a driver that does not
support HALT, use the forced stop because it does not stop with this signal.
• Stop processing at homing depends on the driver specifications. Therefore, Deceleration and Jerk of MC_Stop are ignored.
Precautions
• The homing cannot be started during servo-off. Thus, the driver homing method, Method 35 and 37 (Data set method),
cannot be executed during servo-off.
• When the external signals (the hardware stroke limit specified with axis variables and the proximity dog specified with the
AbsSwitch input) are assigned, the external signals are transmitted to the driver. However, when the position accuracy is
required in the proximity dog based (not Z-phase based) method, using the driver built-in DI is recommended.
• The set position is not followed up during a driver homing method.
Set the input source (MC_SOURCE) in the master axis actual value "2: mcActualValue" to execute synchronous control by
using the axis that is during homing as the master axis.
• If the following items are not mapped, backup is not guaranteed.
Home cycle counter (2D3DH): Encoder multiple revolution counter
Home ABS counter (2D3EH): Encoder position within 1 revolution
5 HOMING
168
5.1 Outline
Execute
Busy
Done
Execute
Done
Busy
Active
4: Standstill 3: Homing
csp
FFFFH 1H
2: Stopping
hm csp
0H
1H FFFFH