Mitsubishi Electric Q172CPU Programming Manual page 489

8 AUXILIARY AND APPLIED FUNCTIONS
[Cautions]
(1) A zero point does not must be passed (zero pass signal: M2406+20n ON)
between turning on the power supply and executing home position return.
(2) Home position return retry function cannot be used in the stopper type 2.
(3) Set the torque limit value at the reaching 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.
(4) If the home position return is executed again after home position return
completion, a minor error "home position return completion signal is turning ON at
the stopper type home position return start" (error code: 115) will occur, the home
position return is not executed.
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