Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 403

Home position return by the dogless home position signal reference method
■Operation A
"Operation A" of a home position return by the dogless home position signal reference method is shown below.
• When the zero point is in the home position return direction
Home position
V
return direction
(1)
Home position
Home position
return start
• If an external limit switch is detected during a deceleration stop after zero point detection, an error occurs
and stops. Ensure there is enough distance between the zero point signal and external limit switch, or set
the deceleration time so the decelerating distance is shortened.
• If multiple home position signals (zero points) are passed during deceleration after zero point detection, by
the connected servo amplifier, the following operation occurs.
Servo amplifier model
MR-J4- B
MR-J4W- B
MR-J4- B-RJ
MR-J4- B-LL
MR-J3- B-RJ004
MR-J3- B-RJ006
MR-J3- B-RJ080W
• When the zero point is not in the home position return direction
Home position
Home position
V
return speed
return direction
(6)
(5)
(7)
Home
Home position
position
return start
Creep speed
(4)
Home position
return start
Home position
return speed
It travels to preset direction of home position
(1)
return with the home position return speed.
(2)
Home position signal (zero point) is detected,
(2)
and a deceleration stop is made.
(3)
After a deceleration stop, it travels to reverse
direction of home position return with the creep
speed, the home position return ends with the
position of home position signal (zero point).
(3)
Creep speed
Zero point
Operation
Direct drive motor Home position return ends at the position of the last home position
signal (zero point) passed.
Linear servo Home position return ends at the position of the first home position
signal (zero point) passed.
Fully closed loop control
Home position return ends at the position of the last home position
signal (zero point) passed.
(1)
Home position
return speed
(1) (2)
(3)
(2)
(4)
(5)
(6)
(7)
(3)
External limit switch
Zero point
It travels to preset direction of home position return with
the home position return speed.
External limit switch is detected, and a deceleration stop
is made.
After a deceleration stop, it travels to reverse direction of
home position return with the home position return speed.
Home position signal (zero point) is detected, and a
deceleration stop is made.
After a deceleration stop, it travels to home position return
with the home position return speed.
Home position signal (zero point) is detected, and a
deceleration stop is made.
After a deceleration stop, it travels to reverse direction of
home position return with the creep speed, the home
position return ends with the position of home position
signal (zero point).
5 POSITIONING CONTROL
5.21 Home Position Return
5
401