Home position return, Zrt | Mitsubishi Electronics MR-J2S- CL

4. OPERATION

(f) Home position return

Perform home position return as required. Refer to Section 4.4 for home position return types. A parameter setting example for dog type home position return is given here.

Parameter	Name	Setting		Description
		000
No.8	Home position return type			Dog type home position return is selected.
				Dog type home position return is selected.
				Home position return is started in address
				Home position return is started in address
				incremented direction.
				Proximity dog (DOG) is valid at OFF.
				Proximity dog (DOG) is valid at OFF.

No.9	Home position return speed	1000	Motion is made up to proximity dog at 1000r/min.
No.10	Creep speed	10	Motion is made up to home position at 10r/min.
No.11	Home position shift distance	0	No home position shift
No.42	Home position return position data		Used to set the current position on completion of home
No.42	Home position return position data		position return.
			position return.
No.43	Moving distance after proximity dog		Not used in dog type home position return.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

Create a program that executes a home position return. Here, create it as program No. 1.

Program			Description
ZRT	Zeroing
STOP	Program end
Set the input signals as listed below and switch on the forward rotation start (ST1) to execute
home position return.
Device name	Symbol	ON/OFF	Description
Automatic/manual selection	MD0	ON	Program operation mode is selected.
Program No. selection 1	DI0	OFF	Program No.1 is selected.
Program No. selection 2	DI1	OFF	Program No.1 is selected.
Program No. selection 2	DI1	OFF
Forward rotation stroke end	LSP	ON	CCW rotation side limit switch is turned on.
Reverse rotation stroke end	LSN	ON	CW rotation side limit switch is turned on.
Servo-on	SON	ON	Servo is switched on.

(g) Automatic operation

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute automatic operation in accordance with program No.2.

Device name	Symbol	ON/OFF	Description
Automatic/manual selection	MD0	ON	Automatic operation mode is selected.
Servo-on	SON	ON	Servo is switched on.
Forward rotation stroke end	LSP	ON	CCW rotation side limit switch is turned on.
Reverse rotation stroke end	LSN	ON	CW rotation side limit switch is turned on.
Program No. selection 1	DI0	ON	Program No.2 is selected.
Program No. selection 2	DI1	OFF	Program No.2 is selected.
Program No. selection 2	DI1	OFF

(h) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.

When the servo motor used is equipped with an electromagnetic brake, refer to Section 3.9 (3). Note that forward rotation stroke end (LSP), reverse rotation stroke end (LSN) off has the same stopping pattern as described below.

1) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

2) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

3) Forced stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Servo forced warning (A.E6) occurs.

4) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF

The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the opposite direction.

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MR-J2S- CL specifications

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Mitsubishi Electronics MR-J2S- CL specifications Home position return, Zrt

Models: MR-J2S- CL

4. OPERATION

ZRT

STOP

home position return.

2) Alarm occurrence

MR-J2S- CL specifications