Hpr Method (6): Driver Hpr Method [Cia402 Mode] - Mitsubishi Electric MELSEC-Q Series User Manual

8.2.8 HPR method (6): Driver HPR method [CiA402 mode]

The machine HPR is started.
1)
(The machine executes the HPR based on the positioning pattern set on the driver side.)
The HPR complete flag ([Md.31] Status: b4) turns from OFF to ON and the HPR request flag ([Md.31]
2)
Status: b3) turns from ON to OFF.
Motor rotation speed
Cd.3 Positioning start No.
Proximity dog
Zero signal
Positioning start singal [Y11]
BUSY signal [X11]
HPR request flag
( Status: b3)
Md.31
HPR complete flag
( Md.31 Status: b4)
Md.26 Axis operation
status
Md.514 HPR operating
status
When the driver is set to the
HPR method such as Method 35
or 37 (Data set method), the HPR
is completed immediately after
the execution.
Thus, the operating status may
not be able to be checked.
The HPR is executed based on the positioning pattern set on the driver (servo
amplifier) side (hereafter called the "driver side"). Set the setting value of HPR in the
parameters of the driver side. Refer to the manual of the driver because the HPR
operation and parameters depend on the specification of the driver.
Operation chart
V
ON
OFF
OFF
OFF
OFF
0: Standby
5
FFFFH
1H: Homing procedure is interrupted
or not started ("3H" is stored when
the HP is already established.)
9001
ON
ON
5: Analyzing
7: HPR
0H: Homing procedure is in progress
1H
8 - 18
Chapter 8 HPR Control
ON
0: Standby
3H FFFFH
3H: Homing procedure is
completed successfully
FFFFH: The servo amplifier is not
set to the home position
return mode
t