Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 405

• When the position where address of absolute linear encoder becomes 0 is not in the home position return direction
Home position
V
return direction
Creep speed
(3)
(2)
Linear encoder
address
• If an external limit switch is detected during home position return operation, an error occurs and stops.
• Home position return retry function cannot be used.
Home position return execution
Home position return by dogless home position signal reference method is executed using the servo program (Page 378
Servo program for home position return).
Cautions
• If a home position return is started for an axis connected with servo amplifiers other than MR-J3(W)-B, MR-J4(W)-B, a
minor error (error code: 1979H) will occur and the home position return is not executed.
• 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 connecting a rotational motor on the load side with a fully closed loop control servo amplifier (MR-J3-B-RJ006, MR-J4-
B), execute home position return in a semi closed loop control state. (The home position return operation becomes that of
"Operation B".)
If a home position return is performed in a fully closed loop control state, the home position return is at the
position of encoder current value of multiple revolution position=0, and single revolution position=0 (The home
position return operation becomes that of "Operation C"), and the motor might revolve more than necessary.
When connecting a rotational motor on the load side, execute home position return in a semi closed loop
control state.
(1)
Home position
(2)
return start
(3)
Home
position
(1)
Home position
return speed
Linear encoder address=0
It travels to reverse of preset
direction of home position return with
the home position return speed.
The position where address of absolute
linear encoder becomes 0 is detected,
and a deceleration stop is made.
After a deceleration stop, it travels to
direction of home position return with
the creep speed, and the home position
return ends with the position where
address of absolute linear encoder
becomes 0.
5 POSITIONING CONTROL
5.21 Home Position Return
5
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