Homing Mode (Hm) And Homing - Mitsubishi Electric MR-J5 Series User Manual

Homing mode (hm) and homing

The functions and related objects of the homing mode (hm) are shown in the following.
[Controlword (Obj. 6040h)]
[Homing method (Obj. 6098h)]
[Homing speeds (Obj. 6099h)]
[Homing acceleration (Obj. 609Ah)]
[Home offset (Obj. 607Ch)]
Related objects
Index Sub Object
607Ch 0 VAR
6098h 0 VAR
6099h 0 ARRAY
1
2
609Ah 0 VAR
60E3h 0 ARRAY
1
to
40
*1 In the homing mode (hm), the servo motor is brought to a quick stop according to the deceleration time constant when the stroke end is
detected. Set the homing speed carefully.
*2 If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s).
Homing
method
Name Data Type
Home offset I32
Homing Method I8
Homing Speeds U8
Speed during search for switch U32
Speed during search for zero U32
Homing acceleration U32
Supported Homing Method U8
st
1 supported homing method I8
 
th
40 supported homing method I8
[Statusword (Obj. 6041h)]
Access Default
rw 0
rw -1
rw 2
rw 10000
rw 1000
rw 0
ro 40
ro 37
 
ro -43
Description
Set the difference between zero
position of the machine coordinate
system and homing position. After
homing is completed, the value set to
this object is subtracted from the
homing position, and at the same time,
[Position actual value (Obj. 6064h)] is
changed.
The setting made by this object is
reflected at completion of homing or at
network connection. The setting is not
reflected when homing is incomplete.
Specify a homing method.
Refer to the following for the supported
homing methods.
Page 27 List of Homing method
Number of entries of the homing
speed
Specify the travel speed until dog
*2
detection.
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Range: 0 to servo motor maximum
speed
Specify the travel speed to the home
*1 *2
position after dog detection.
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Range: 0 to servo motor maximum
speed
Acceleration/deceleration time
constant at homing
Unit: ms
Number of entries of the supported
homing method
This object supports the homing
method that uses the current position
as a home position.

This object supports the dogless Z-
phase reference homing method
(reverse rotation).
2 CONTROL MODE
2.1 Control mode [G] [WG]
2
25