Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 394

Cautions
• 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 the home position return is executed in the proximity dog, it travels to reverse direction of home position return. If
proximity dog turns OFF, a deceleration stop is made, it travels to direction of home position return again with the creep
speed and the first zero point after proximity dog ON is home position.
º
Acceleration time Deceleration time
V
• When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during travel to reverse
direction of home position return, and the zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)"
OFF). It continues to travel in the reverse direction of home position return with home position return speed until the zero
point is passed. The zero point is passed again during deceleration by zero point pass, the home position becomes this
side compared with the case to pass zero point at the time of the proximity dog OFF.
º
Acceleration time Deceleration time
Home position
return direction
V
(4)
5 POSITIONING CONTROL
392
5.21 Home Position Return
Home position
return direction
Creep speed
(3)
(2)
Proximity dog
ON
Home position
return speed
(1) Creep speed
(5)
Home position
return start
Home position
return speed
Proximity dog
It travels to preset reverse direction of home position
(1)
return with the home position return speed.
A deceleration stop is made when proximity dog
(2)
turns OFF and zero point is passed.
After a deceleration stop, it travels to direction of
(3)
home position return with the creep speed, and the
home position return ends with first zero point after
the proximity dog ON.
Home position
Home
return start
position
(1)
(1) It travels to preset direction of home position return with
the return speed.
(2) A deceleration stop is made by the proximity dog ON.
(3)
After a deceleration stop, it travels to reverse direction of
home position return with the home position return speed.
It continues to travel after proximity dog turns OFF, and a
(4)
deceleration stop is made when zero point is passed.
After a deceleration stop, it travels to direction of home
(5)
position return with the creep speed, and the home
position return ends with first zero point after the
(2)
proximity dog ON.
Home position
(3)
Zero point
Zero point