Home Position Return By The Count Method 3 - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Home position return by the count method 3

Count method 3
After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in
this method.
When the zero point is passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) during travel of specified distance
set in the "travel value after proximity dog ON" from the home position return start, home position return operation is the same
as "count method 1". (Page 384 Home position return by the count method 1)
When a zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) during travel of specified
distance set in the "travel value after proximity dog ON" from the home position return start, it rotates one time to reverse
direction and passes the zero point, re-travels to home position return direction, and then the first zero point after the specified
distance (travel value after proximity dog ON) after proximity dog ON is set as home position.
The travel value after proximity dog ON is set in the home position return data (Page 178 Home Position Return Data).
Home position return by the count method 3
Operation of home position return by count method 3 for not passing the zero point during travel of specified distance set in
the "travel value after proximity dog ON" from the home position return start is shown below.
V
Home position
Home position
return speed
return direction
(1)
Home position return start
Home position return speed
1 revolution
Proximity dog
Zero point no passing
Home position return execution
Home position return by the count method 3 is executed using the servo program (Page 378 Servo program for home
position return).
5 POSITIONING CONTROL
386
5.21 Home Position Return
(5)
(2)
(3)
Home position
(4)
It travels to preset direction of home position return with
(1)
the home position return speed.
(2)
A deceleration is made to the creep speed by the proximity
dog ON, after that, it travels with the creep speed.
(3) A deceleration stop is made in the position which traveled
Creep speed
the travel value set as travel value after proximity dog ON.
(4) After a deceleration stop, it travels for one revolution of
servomotor to reverse direction of home position return
with the home position return speed.
(5) It travels to direction of home position return with the home
position return speed, the home position return with first
zero point after traveling the travel value set as travel
value after proximity dog ON from after the proximity dog
ON. (At this time, a deceleration to the creep speed is not
made with the proximity dog OFF to ON. And if the zero
point is not passed because of droop pulses for processing
of (4) and (5), a minor error (error code: 197AH) will occur,
a deceleration stop is made and home position return does
not end normally. In this case, adjust a position of
proximity dog ON.)
Zero point
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".