Home Position Return By The Stopper Type 2 - Mitsubishi Electric Q172CPU Programming Manual

8 AUXILIARY AND APPLIED FUNCTIONS

8.5.11 Home position return by the stopper type 2

[Control details]
Torque limit
value
Torque limiting
signal
(M2416+20n)
(1) Stopper type 2
Position of stopper is home position in this method.
It travels the direction set in the "home position return direction" with the "creep
speed", and it presses against the stopper and makes to stop with the "creep
speed". (The torque limit value is valid set in the "torque limit value at the creep
speed" of the home position return data from the home position return start.)
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.
(2) Home position return by the stopper type 2
Operation of home position return by the stopper type 2 is shown below.
V
Home position
return direction
Home position
return start
Home position return data "torque limit value at the creep speed"
OFF
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.
Fig. 8.13 Home position return operation by the stopper type 2
(3) Home position return execution
Home position return by the stopper type 2 is executed using the CHGA
instruction in Section 8.5.16.
When the home position return request is ON, the stopper type 2 home position
return is also made even G28 of the Motion program.
Creep speed
Time which stops rotation of servomotors
forcibly by the stopper
8 - 41
Stopper
Real position of servomotor
at this point is home position.
ON
t