Chapter 5 Homing; Outline - Mitsubishi Electric MELSEC iQ-R Series User Manual

5
HOMING
In "homing", a position is established as the starting (or "home position") when carrying out positioning control, and positioning
is carried out toward that start point.
It is used to return a machine system at any position other than the home position to the home position when the motion
system issues a "homing request" with the power turned ON or others, or after a positioning stop.
Precautions
When using an absolute position system, execute a homig always at the following cases: on starting up and when the
controller or absolute position motor has been replaced. Check the homing request signal using the program, etc. before
performing the positioning control. Failure to observe this could lead to an accident such as a collision.
The address information stored in the motion system cannot be guaranteed while the AxisName.Md.Homing_Request is
TRUE.
AxisName.Md.Homing_Request is FALSE and AxisName.Md.Homing_Complete is TRUE if the homing is executed and is
completed normally.
5.1

Outline

In homing, a machine home position is established.
None of the address information stored in the motion system or driver is used at this time.
The position mechanically established after the homing is regarded as the "home position" to be the start point for positioning
control.
M
Home position
Proximity dog
Homing method at homing starts is "driver homing method" when all of the following conditions are satisfied, or "data set
homing method" when the following conditions are not satisfied.
• Axis type is real drive axis
• Driver supports Homing mode
• "Home offset (607CH): Home position" is set to a slave object.
Operation of this function for each system state
: Possible, : Not possible
System state
STOP
RUN
Moderate error
Major error
5 HOMING
164
5.1 Outline
Homing
Operation possible/not possible



