Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 383

• The position executed deceleration stop by the proximity dog OFF is near zero point, a home position discrepancy
equivalent to one revolution of the servomotor may occur. Adjust the position of proximity dog OFF, such that the home
position return re-travel value becomes half the travel value for one revolution of the servomotor.
Proximity dog
OFF
ON
When the home position return retry function is not set in the following cases, execute the home position
return, after return the axis once to position before the proximity dog ON by the JOG operation, etc.
Home position return cannot be executed without returning to position before the proximity dog ON.
• Home position return with a position after the proximity dog ON to OFF.
• When the power supply turned OFF to ON after home position return end.
• When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) the zero point from home position
return start to deceleration stop by proximity dog ON to OFF, a minor error (error code: 197AH) will occur, a deceleration
stop is made and home position return does not end normally. When a distance between home position return start position
and home position is near and a zero point is not passed, select the proximity dog method 2.
• If home position return is executed in the proximity dog ON, a minor error (error code: 197DH) will occur, the home position
return is not executed. Use the proximity dog method 2 in this case.
• When home position return retry function is not set, if home position return is executed again after home position return
end, a minor error (error code: 197BH) will occur, the home position return is not executed.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
If the position executed deceleration stop by the proximity dog
OFF is near zero point, the creep speed and deceleration
settings may result in a home position discrepancy equivalent
to one revolution of the servomotor.
Zero point
5 POSITIONING CONTROL
5.21 Home Position Return
5
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