Mitsubishi Electric MELSEC Q Series Programming Manual page 416

6 POSITIONING CONTROL
6.23.11 Home position return by the stopper method 2
Torque limit
value
Torque limiting
signal
(M2416+20n)
(1) Stopper method 2
Position of stopper is home position in this method.
It travels the direction set in the "home position return direction" with the "creep
speed", and it presses against the stopper and makes to stop with the "creep
speed". (The torque limit value is valid set in the "torque limit value at the creep
speed" of the home position return data from the home position return start.)
The actual position of the servo motor at the time that the torque limiting signal
OFF to ON is detected is the home position.
Torque limit value after reaching creep speed is set in the "torque limit value at
the creep speed" of home position return data.
(2) Home position return by the stopper method 2
Operation of home position return by the stopper method 2 is shown below.
V
Home position
return direction
Home position
return start
Home position return data "torque limit value at the creep speed"
OFF
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.
Fig. 6.42 Home position return operation by the stopper method 2
(3) Home position return execution
Home position return by the stopper method 2 is executed using the servo
program in Section 6.23.19.
(4) Cautions
(a) A zero point does not must be passed (zero pass signal: M2406+20n ON)
between turning on the power supply and executing home position return.
(b) Home position return retry function cannot be used in the stopper method 2.
(c) Set the torque limit value at the reaching creep speed for system.
When the torque limit value is too large, servo motors or machines may be
damaged after pressing the stopper. Also, when the torque limit value is too
small, it becomes the torque limiting before pressing the stopper and ends
the home position return.
(d) If the home position return is executed again after home position return
completion, a minor error (error code: 115) will occur, the home position
return is not executed.
Creep speed
Time which stops rotation of servo motors
forcibly by the stopper
6 - 229
Stopper
Real position of servo motor
at this point is home position.
ON
t