Stopper Type Home Position Return - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. HOW TO USE THE PROGRAM

5.4.5 Stopper type home position return

For the stopper type home position return, by using the JOG operation, manual pulse generator operation, or
others, a workpiece is pressed against a mechanical stopper, and the position where it is stopped is used as
the home position.
(1) Device/parameter
Set input devices and parameters as shown below.
Item
Automatic operation mode of
the program method
Stopper type home position
return
Home position return
direction
Home position return speed
Stopper time
Stopper type home position
return torque limit value
Home position return
acceleration time constant
Home position return
deceleration time constant
Home position return position
data
Program
(2) Timing chart
The following shows a timing chart after a program containing a "ZRT" command is selected.
MD0 (Operation mode selection 1)
MEND (Travel completion)
PED (Position end)
CPO (Rough match)
ZP
(Home position return completion)
Forward rotation
Servo motor speed 0 r/min
Reverse rotation
ST1 (Forward rotation start)
ST2 (Reverse rotation start)
TLC (Limiting torque)
Torque limit value
Note. The following torque limits are enabled.
Used device/parameter
MD0 (Operation mode selection 1)
[Pr. PT04]
[Pr. PT04]
[Pr. PT05]
[Pr. PT10]
[Pr. PT11]
[Pr. PC30]
[Pr. PC31]
[Pr. PT08]
DI1 (Program No. selection 1) to
DI7 (Program No. selection 8)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Acceleration time constant
ON
OFF
ON
OFF
ON
OFF
[Pr. PC35]
Switch on MD0.
_ _ _ 3: Select the stopper type.
Refer to (2) of section 5.4.1 to select the home
position return direction.
Set the rotation speed until the workpiece is
pressed against the mechanical stopper.
Set the time from when the home position data is
obtained after the workpiece is pressed against the
mechanical stopper until when the home position
return completion (ZP) is output.
Set the servo motor torque limit value at the
execution of the stopper type home position return.
The acceleration time constant set for [Pr. PC30]
is used.
The deceleration time constant set for [Pr. PC31]
is used.
Set the current position at the home position return
completion.
Select a program containing a "ZRT" command,
which performs the home position return.
Home position return speed
3 ms or shorter
5 ms or longer
[Pr. PT11] (Note)
5 - 45
Setting
Home position return
position data
Stopper
Stopper time
[Pr. PC35]