Mitsubishi Electric MELSERVO-J4 Instruction Manual page 187

5. HOW TO USE THE PROGRAM
(k) Home position return command (ZRT)
Perform a home position return.
Set the home position with a parameter. (Refer to section 5.4.)
With the "ZRT" command, the program proceeds to the next step after the home position return
completion.
Command
SPN (500)
STA (200)
STB (300)
ZRT
MOV (500)
STOP
Item
Dog type home position
return
Home position return
direction
Dog input polarity
Home position return speed
Creep speed
Home position shift distance
Home position return
acceleration time constant
Home position return
deceleration time constant
Home position return position
data
Acceleration time constant
of home position return
(100 ms)
0 [r/min]
Servo motor speed
Reverse
rotation
Z-phase
Position address
POINT
If the home position return has not completed successfully, [AL. 96 Home
position return incomplete warning] occurs. In this case, the program proceeds
to the next step without a stop. Since the home position return is incomplete, the
travel command is invalid.
Servo motor speed
Acceleration time constant
Deceleration time constant
Home position return
Absolute value travel command
Program stop
Used device/parameter
[Pr. PT04]
[Pr. PT04]
[Pr. PT29]
[Pr. PT05]
[Pr. PT06]
[Pr. PT07]
[Pr. PC30]
[Pr. PC31]
[Pr. PT08]
Deceleration time constant
of home position return
(200 ms)
Home position return speed
(100 r/min)
Proximity dog
d) Home position return command
Description
500 [r/min]
200 [ms]
300 [ms]
STM
500 [×10 μm]
"_ _ _0"
"_ _ 0 _" (Address increasing direction)
"_ _ _ 1" (A dog is detected by opening between
DOG and SG.)
100 [r/min]
50 [r/min]
STM
0 [×10
100 [ms]
200 [ms]
0
b) Acceleration time constant
(200 ms)
Creep speed
a) Servo motor speed
(50 r/min)
0
e) Absolute value travel command
(500 × 10
Home position return completion
5 - 28
a)
b)
c)
d)
e)
Setting
μm]
c) Deceleration time constant
(300 ms)
(500 r/min)
STM
μm)
500