Stopper Type Home Position Return - Mitsubishi MR-JE-200A Instruction Manual

5. HOW TO USE THE PROGRAM

5.4.5 Stopper type home position return

For the stopper type home position return, the home position is set where the workpiece pressed against the
stopper of the machine by using the JOG operation, the manual pulse generator operation, or others.
(1) Device/parameter
Set input devices and parameters as follows:
Item
Automatic operation mode of
the program method
Stopper type home position
return
Home position return
direction
Home position return speed
Stopper time
Stopper type home position
return torque limit value
Acceleration time constant of
home position return
Deceleration time constant of
home position return
Home position return position
data
Program
(2) Timing chart
The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0
(Operation mode selection 1)
MEND (Travel completion)
PED (Position end)
CPO (Rough match)
ZP
(Home position return completion)
Forward rotation
Servo motor speed 0 r/min
Reverse rotation
ST1 (Forward rotation start)
ST2 (Reverse rotation start)
TLC (Limiting torque)
Torque limit value
Note. The following torque limits are enabled.
Device/parameter to be used
MD0 (Operation mode selection 1)
[Pr. PT04]
[Pr. PT04]
[Pr. PT05]
[Pr. PT10]
[Pr. PT11]
[Pr. PC30]
[Pr. PC31]
[Pr. PT08]
DI0 (Program No. selection 1) to
DI3 (Program No. selection 4)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Acceleration time constant
ON
OFF
ON
OFF
ON
OFF
[Pr. PC35]
Switch on MD0.
_ _ _ 3: Select the stopper type.
Refer to section 5.4.1 (2) to select the home
position return direction.
Set the rotation speed until the workpiece is
pressed against the mechanical stopper.
Set the time from when the home position data is
obtained after the workpiece pressed against the
stopper until when ZP (Home position return
completion) is outputted.
Set the servo motor torque limit value at the
execution of the stopper type home position return.
The acceleration time constant set for [Pr. PC30]
is used.
The deceleration time constant set for [Pr. PC31]
is used.
Set the current position when the home position
return is complete.
Select a program containing a "ZRT" command,
which performs the home position return.
Home position return speed
3 ms or shorter
5 ms or longer
[Pr. PT11] (Note)
5 - 45
Setting
Home position return
position data
Stopper
Stopper time
[Pr. PC35]