Mitsubishi Electric MELSEC Q Series Programming Manual page 427

Motion controller, real mode
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6 POSITIONING CONTROL
(6) Cautions
(a) If a home position return is started for an axis connected with servo
amplifiers other than MR-J3(W)- B, MR-J4(W)- B, a minor error (error
code: 192) will occur and the home position return is not executed.
(b) If home position return is executed again after home position return end, a
minor error (error code: 115) will occur, the home position return is not
executed.
(c) If connecting a rotational motor on the load side with a fully closed loop
control servo amplifier (MR-J3- B-RJ006, MR-J4- B), execute home
position return in a semi closed loop control state. (The home position return
operation becomes that of "Operation B".)
POINT
If a home position return is performed in a fully closed loop control state, the home
position return is at the position of encoder current value of multiple revolution
position =0, and single revolution position =0 (The home position return operation
becomes that of "Operation C"), and the motor might revolve more than necessary.
When connecting a rotational motor on the load side, execute home position return
in a semi closed loop control state.
(d) If executing home position return with a fully closed loop control servo
amplifier (MR-J3- B-RJ006, MR-J4- B), do not change fully closed loop
control/semi closed loop control during home position return operation.
When fully closed loop control/semi closed loop control is changed during
home position return operation, the home position return might not be
completed normally
(e) If performing home position return from zero point, depending on the actual
motor position at the start, and it's relative position to zero point, the home
position return might be completed at the next zero point. It is recommended
to move the start of the home position return from the zero point to a position
in the in the reverse direction of home position return direction.
(f) If home position return is executed during operation of amplifier-less
operation function:
1) MR-J3(W)- B
Regardless of the servo amplifier model, home position return is
executed by the home position return operation of "Operation B".
2) MR-J4(W)- B
Home position return is executed by the home position return operation
stated in amplifier operation mode that is set in amplifier setting of
system setting.
6 - 240

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