Mitsubishi Electronics MR-J2S- CL Stopper type home position return, Operation, 2Timing chart

4. OPERATION

4.4.5 Stopper type home position return

In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.

(1)Signals, parameters

Set the input signals and parameters as follows:

Item	Device/Parameter used	Description
Manual home position	Automatic/manual selection (MD0)	MD0 is switched on.
return mode selection
Stopper type home position	Parameter No.8	3:Stopper type home position return is
return		selected.
Home position return	Parameter No.8	Refer to Section 4.4.1 (2) and choose the home
direction		position return direction.
Home position return speed	Parameter No.9	Set the speed till contact with the stopper.
		Time from when the part makes contact with
Stopper time	Parameter No.44	the stopper to when home position return data
		is obtained to output home position return
		completion (ZP)
Stopper type home position	Parameter No.45	Set the servo motor torque limit value for
return torque limit		execution of stopper type home position return.
Home position return		Use the acceleration/deceleration time
acceleration/deceleration	Parameter No.41
		constants set in parameter No. 41.
time constant
Home position return	Parameter No.42	Used to set the current position on completion
position data		of home position return.
	Select the program including the "ZRT"
Program	command that executes a home position
	return.

(2)Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT" command.

Automatic/manualselection ON (MD0) OFF

Movement complete (PED) ONOFF Home position ON return completion(ZP) OFF

	Parameter No.41	Home position return	Home position address
	Acceleration time constant	speed Parameter No.9
Forward			Parameter No. 42
Servo motor speed rotation		3ms or less
0 r/min			Stopper
Forward rotation	ON	5ms or more
start (ST1)	OFF	Stopper time
Limiting	ON	Parameter No. 44
torque (TLC)	OFF
Torque limit value	Parameter No. 28	Parameter No. 45	Parameter No. 28

The address on completion of home position return is the value automatically set in parameter No.42 (home position return position data).

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