Home Position Return By The Stopper Method 2 - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Home position return by the stopper method 2

Stopper method 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.
Home position return by the stopper method 2
Operation of home position return by the stopper method 2 is shown below.
Torque limit value
[St.1076] Torque limiting
(R: M32416+32n/Q: M2416+20n)
Home position return execution
Home position return by the stopper method 2 is executed using the servo program (Page 378 Servo program for home
position return).
Cautions
• A zero point does not must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning on the
power supply and executing home position return.
• Home position return retry function cannot be used in the stopper method 2.
• 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.
• If the home position return is executed again after home position return completion, a minor error (error code: 197BH) will
occur, the home position return is not executed.
V
Home position
return direction
Home position
return start
Home position return data "torque limit value at the creep speed"
OFF
*: "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.
Stopper
Creep speed
Real position of servomotor
at this point is home position.
Time which stops rotation of
servomotors forcibly by the stopper
ON
t
5 POSITIONING CONTROL
5.21 Home Position Return
5
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