Positioning Function To The Home Position - Mitsubishi Electric MELSERVO-JET MR-JET User Manual

Positioning function to the home position

This function allows positioning to the home position to return to the home position after the home position has been
determined by homing after power-on. For the absolute position detection system, homing is not required after power-on.
If positioning to the home is performed when homing has not been completed, [AL. 090.1 Homing incomplete warning] will
occur.
After power-on, perform homing in advance.
Set the objects and servo parameters as follows.
*1
Item
Point table mode (pt) selection
Point table selection
Homing speed
Acceleration time constant
Acceleration
Deceleration time constant
Deceleration
*1 The setting unit of the speed data and acceleration/deceleration data can be switched with [Pr. PT01.1].
Set the homing speed of the home positioning function with [Speed during search for switch (Obj. 6099h: 01h)].
Set the acceleration time constant/acceleration with [Homing acceleration (Obj. 609Ah)].
The usage method of the deceleration time constant/deceleration differs depending on the setting value of [Pr. PT55.0
Homing deceleration time constant selection].
Select [Homing acceleration (Obj. 609Ah)], [Pr. PT57 Homing deceleration time constant], or [Pr. PV17 Homing deceleration].
When bit 15 (S_ZP2) of [Status DO2 (Obj. 2D12h)] is on and bit 10 (Target reached) of [Statusword (Obj. 6041h)] is on, turning
on bit 4 (New set-point) of [Controlword (Obj. 6040h)] executes positioning to the home position.
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Target point table
ON
Controlword bit 4
(New set-point) OFF
Object/servo parameter
[Modes of operation (Obj. 6060h)]
[Target point table (Obj. 2D60h)]
[Speed during search for switch (Obj. 6099: 01h)]
• [Homing acceleration (Obj. 609Ah)]
• [Pr. PT56 Homing acceleration time constant]
• [Homing acceleration (Obj. 609Ah)]
• [Pr. PV15 Homing acceleration]
• When [Pr. PT55.0 Homing deceleration time constant
selection] is set to "0"
[Homing acceleration (Obj. 609Ah)]
• When [Pr. PT55.0] is set to "1"
[Pr. PT57 Homing deceleration time constant]
• When [Pr. PT55.0 Homing deceleration time constant
selection] is set to "0"
[Homing acceleration (Obj. 609Ah)]
• When [Pr. PT55.0] is set to "1"
[Pr. PV17 Homing deceleration]
Acceleration time constant
Homing speed
-1
Setting details
Set to "-101".
Set to "-1".
Set the servo motor speed for traveling to the home
position.
Set the acceleration time constant.
Set the acceleration to reach the set servo motor
speed.
(Acceleration time [s] = Servo motor speed/
Acceleration)
Set the deceleration time constant.
Set the deceleration to stop the servo motor from the
set servo motor speed.
(Deceleration time [s] = Servo motor speed/
Deceleration)
Deceleration time constant
Home position
7 POSITIONING MODE (POINT TABLE METHOD) (CP)
245
7.2 Point table mode (pt)
7