Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 410

■Dwell time setting at the home position return retry
Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return
start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position
return retry function.
Dwell time at the home position return retry becomes valid at the time of deceleration stop of the following 2) and 4). (Dwell
time operates with the same value.)
(5)
(4)
Proximity
dog
The temporary stop is made during
time set in the "dwell time at the home
position return retry".
Precautions
• Possible/not possible of home position return retry function by the home position return method is shown below.
: Possible, : Not possible
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal
reference method
Driver home position return method
• Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lower limit
switch. Home position return retry cannot be executed only in the state of servo ON.
• Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is
started. In this case, a minor error (error codes: 1904H to 1907H) will not occur.
CAUTION
• Be sure to set the external limit switch (FLS, RLS) in the upper/lower position of machines. If the home position return retry function is used without external
limit switch, servomotors continue rotating.
5 POSITIONING CONTROL
408
5.21 Home Position Return
The temporary stop is made during time
set in the "dwell time at the home position
return retry".
Home position
return direction
(1)
(6)
Home
Home position
position
return start
(3)
Zero
point
(1) It travels to preset direction of home position return.
If the external upper/lower limit switch turns OFF before the detection of
(2)
proximity dog, a deceleration is made and the temporary stop is made
during time set in the "dwell time at the home position return retry".
After a stop, it travels to reverse direction of home position return with
(3)
the home position return speed.
A deceleration is made by the proximity dog OFF and the temporary
(4)
stop is made during time set in the "dwell time at the home position
return retry".
(5) After a stop, it travels to direction of home position return.
(6) Home position return ends. At this time, the "dwell time at the home
position return retry" is invalid.
Possible/not possible of home position return retry function








Operation A

Operation B

Operation C

(2)
External limit switch