Mitsubishi Electronics Q172HCPU, Q173HCPU manual 15

6.17.7 FIN signal wait function.................................................................................................................	6-150
6.18 Position Follow-Up Control ..................................................................................................................	6-159
6.19 Speed control with fixed position stop.................................................................................................	6-165
6.20 Simultaneous Start...............................................................................................................................	6-170
6.21 JOG Operation .....................................................................................................................................	6-173
6.21.1 JOG operation data.......................................................................................................................	6-173
6.21.2 Individual start ...............................................................................................................................	6-174
6.21.3 Simultaneous start ........................................................................................................................	6-179
6.22 Manual Pulse Generator Operation ....................................................................................................	6-182
6.23 Home Position Return..........................................................................................................................	6-188
6.23.1 Home position return data.............................................................................................................	6-190
6.23.2 Home position return by the proximity dog type 1 .......................................................................	6-198
6.23.3 Home position return by the proximity dog type 2 .......................................................................	6-201
6.23.4 Home position return by the count type 1 ....................................................................................	6-203
6.23.5 Home position return by the count type 2 ....................................................................................	6-205
6.23.6 Home position return by the count type 3 ....................................................................................	6-206
6.23.7 Home position return by the data set type 1 ................................................................................	6-208
6.23.8 Home position return by the data set type 2 ................................................................................	6-209
6.23.9 Home position return by the dog cradle type ...............................................................................	6-210
6.23.10 Home position return by the stopper type 1 ...............................................................................	6-214
6.23.11 Home position return by the stopper type 2 ...............................................................................	6-216
6.23.12 Home position return by the limit switch combined type............................................................	6-218
6.23.13 Home position return retry function ............................................................................................	6-220
6.23.14 Home position shift function........................................................................................................	6-224
6.23.15 Condition selection of home position set....................................................................................	6-228
6.23.16 Servo program for home position return ....................................................................................	6-229
6.24 High-Speed Oscillation ........................................................................................................................	6-231
7. AUXILIARY AND APPLIED FUNCTIONS	7- 1 to 7-12
7.1 M-code Output Function ..........................................................................................................................	7- 1
7.2 Backlash Compensation Function...........................................................................................................	7- 4
7.3 Torque Limit Function ..............................................................................................................................	7- 6
7.4 Skip Function in which Disregards Stop Command ...............................................................................	7- 8
7.5 Cancel of the Servo Program ..................................................................................................................	7-10
7.5.1 Cancel/start .......................................................................................................................................	7-11
APPENDICES	App- 1 to App-65
APPENDIX 1 Error Codes Stored Using The Motion CPU.....................................................................	App- 1
APPENDIX 1.1 Servo program setting errors (Stored in D9190) .........................................................	App- 3
APPENDIX 1.2 Minor errors ..................................................................................................................	App- 7
APPENDIX 1.3 Major errors ..................................................................................................................	App-17
APPENDIX 1.4 Servo errors..................................................................................................................	App-21
APPENDIX 1.5 PC link communication errors ......................................................................................	App-40
APPENDIX 2 Special Relays/special registers .........................................................................................	App-41
APPENDIX 2.1 Special relays ...............................................................................................................	App-41
APPENDIX 2.2 Special registers ...........................................................................................................	App-44
APPENDIX 3 Example Programs..............................................................................................................	App-48
APPENDIX 3.1 Reading M-code...........................................................................................................	App-48
A - 14