Mitsubishi Electric FR-E800 Instruction Manual page 201

Index
Home position return
H6098
method
setting
-65, -4, -36 Stopper type
Ignoring the home
-5 (initial position (servo ON
value) position as the home
position)
200
7. Position Control
7.5 Simple positioning function by direct commands (Ethernet model / safety communication model / IP67 model)
A workpiece is pressed to a mechanical stopper, and the position where it is stopped is set as the
home position.
Pressing is confirmed when the speed remains equal to or lower than the value set in Pr.865 Low
speed detection for 0.5 second during the torque limit operation. (While the stopper-type home
position is performed, Pr.1289 Home position return stopper torque is applied.) After Pr.1290
Home position return stopper waiting time has passed after pressing is confirmed, the home
position is shifted by the home position shift distance (Pr.1285 and Pr.1286). After a position
command is created and the absolute value of the droop pulse (after electronic gear) reaches the in-
*1
position width set in Pr.426 or less, the home position return is completed.
Home position return direction
• Position pulse increasing direction: when Index H6098 = "-65" and the forward rotation command is
given, or when Index H6098 = "-4"
• Position pulse decreasing direction: when Index H6098 = "-65" and the reverse rotation command is
given, or when Index H6098 = "-36"
HP1 (Home position return setting error) will be displayed in any of the following cases:
• Pressing does not last for the time period set in Pr.1290 Home position return stopper waiting
time.
• After a position command is created, the Y36 signal remains OFF for 10 seconds.
• The home position return is started while the stroke end signal in the direction of travel is detected.
• The operation suddenly stops as the stroke end signal in the direction of travel is detected while the
position command is being created.
Torque limit level
Normal
(Pr.22)
Position command Acceleration time
(Index H609A)
speed
0
First positioning acceleration time (Pr.1222)
Torque limit
RH, RM, RL
JOG
Servo-ON
Start command
The servo ON position is used as the home position. The settings of the direction for home position
return and home position shift distance are ignored.
Under Vector control: If the servo-lock function is enabled, output shutoff is canceled and the Position
control preparation ready (RDY) signal is turned ON after 0.1 second.
Position command speed
RH, RM, RL, JOG
Servo-ON
Start command
RDY
Under PM sensorless vector control: If the servo-lock function is enabled, the home position is set after
magnetic pole position detection.
Position command speed
RH, RM, RL, JOG
Servo-ON
Start command
Description
Pressing confirmation level (Pr.1289)
Home position return speed
(Index H6099, Sub index H01)
Home position
Home position return
return stopper
0.5s waiting time (Pr.1290)
Pressing confirmed
0
0
Magnetic pole position detected
Normal
(Pr.22)
Home position
shift amount
Home position
Time
shifting speed
(Pr.511)
First positioning
deceleration time (Pr.1223)
Home position
Time
0.1s
Home position
Time