Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 246

Restrictions when using sensing pulse I/O module (axis mode)
The following restrictions apply when using the sensing pulse I/O module in axis mode.
■Absolute position system
The axes connected to the sensing pulse I/O module do not support the absolute position system.
■Home position return
• Home position return operation types
The home position return methods that can be used in axis mode of the sensing pulse I/O module are shown below.
: Possible, : Not possible
Home position return method
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
*1 Minor error (error code: 1979H) occurs, and home position return is not performed.
For home position return of axes connected to the sensing pulse I/O module, the zero point is detected by the zero point
signal input to the sensing pulse I/O module. The differences to when a servo amplifier is used for each home position return
operation when using the sensing pulse I/O module are shown below.
Home position return method
Proximity dog method 1, 2
*2
Count method 1, 3
Count method 2
Data set method 1, 2
Dog cradle method
Limit switch combined method
Dogless home position signal
*3
reference method
*1 When proximity dog method 2 is set, the home position return operation is the same as proximity dog method 1.
*2 When count method 3 is set, the home position return operation is the same as count method 1.
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
244
5.7 Connection of Sensing Module
Proximity dog method 1
Proximity dog method 2
Count method 1
Count method 2
Count method 3
Data set method 1
Data set method 2
Data set method 3
Stopper method 1
Stopper method 2
Summary
*1
While moving to zero point after proximity dog OFF, movement stops immediately with
zero point signal ON.
While moving to zero point after movement according to the "travel value after proximity
dog ON" of home position return data is completed, movement stops immediately with
zero point signal ON.
Because there is no movement to zero point, control is the same as when a servo
amplifier is used.
While moving to zero point after a stop by proximity dog OFF while running in reverse,
movement stops immediately with zero point signal ON.
While moving to zero point after a stop by limit switch ON while running in reverse,
movement stops immediately with zero point signal ON.
Home position return operation is executed with "operation B". While moving in the
direction set by the creep speed, movement stops immediately with zero point signal ON
Possible/Not possible







*1


*1

*1


*1


*1

Remarks
Because these methods
refer to the zero point
signal, be sure to input the
zero point signal to the
sensing pulse I/O module.
Because these methods
refer to the zero point
signal, be sure to input the
zero point signal to the
sensing pulse I/O module.