Home Position Return By The Dogless Home Position Signal Reference Method - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Home position return by the dogless home position signal
reference method
Dogless home position signal reference method
Home position return is executed using home position signal (zero point). This is a home position return method that does not
use proximity dogs.
Home position, home position return operation, home position return data (home position return retry function, dwell time at
the home position return retry) differ by the servo amplifier connected as shown below.
Also, set the servo parameter "Function selection C-4 (PC17) (Selection of home position setting condition)" as follows.
Servo amplifier model
MR-J4-B
Standard
MR-J4W-B
MR-J4-B-RJ
MR-J4-B-LL
Direct drive
motor
Linear servo
Fully closed
loop control
MR-J3-B
MR-J3-B Safety
MR-J3W-B
MR-J3-B-RJ004
MR-J3-B Safety
*2
MR-J3-B-RJ006
MR-J3-B Safety
MR-J3-B-RJ080W
*1 For the home position return operations, refer to home position return by the dogless home position signal reference method.
• Operation A (Page 401 Operation A)
• Operation B (Page 402 Operation B)
• Operation C (Page 402 Operation C)
*2 During semi closed loop control is equivalent to MR-J3-B and MR-J4-B (standard).
5 POSITIONING CONTROL
400
5.21 Home Position Return
Linear Home position
encoder type

Home position
signal (zero point)

Absolute position Position where
type address of absolute
linear encoder
becomes 0.
Incremental type Reference mark
Absolute position Position where
*2
type address of absolute
linear encoder
becomes 0.
Incremental type Reference mark

Home position
signal (zero point)

Absolute position Position where
type address of absolute
linear encoder
becomes 0.
Incremental type Reference mark
Absolute position Position where
type address of absolute
linear encoder
becomes 0.
Incremental type Reference mark

Home position
signal (zero point)
Home Home position return
position data
return
Home Dwell time
*1
operation
position at the home
return retry position
function return retry
Operation B Invalid
Operation A Valid
Operation C Invalid
Operation A Valid
Operation C Invalid
Operation A Valid
Operation B Invalid
Operation C
Operation A Valid
Operation C Invalid
Operation A Valid
servo parameter
"Function selection C-
4 (PC17)
(Selection of home
position setting
condition)"
1: Not need to pass motor
Z phase after the power
supply is switched on.
0: Need to pass motor Z
phase after the power
supply is switched on.
Both
0: Need to pass motor Z
phase after the power
supply is switched on.
Both
0: Need to pass motor Z
phase after the power
supply is switched on.
1: Not need to pass motor
Z phase after the power
supply is switched on.
Both
0: Need to pass motor Z
phase after the power
supply is switched on.
Both
0: Need to pass motor Z
phase after the power
supply is switched on.