Mitsubishi Electronics Q172HCPU, Q173HCPU (1), Count type, (1)Count type, 6 POSITIONING CONTROL, (2) Home position return by the count type, 6.23.6Home position return by the count type

6 POSITIONING CONTROL

6.23.6Home position return by the count type 3

(1)Count type 3

After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 3 home position return cannot be executed.)

When the zero point is passed (zero pass signal: M2406+20n ON) during travel of specified distance set in the “travel value after proximity dog ON” from the home position return start, home position return operation is the same as “count type 1”. (Refer to Section 6.23.4)

When a zero point is not passed (zero pass signal: M2406+20n OFF) during travel of specified distance set in the “travel value after proximity dog ON” from the home position return start, it rotates one time to reverse direction and passes the zero point, re-travels to home position return direction, and then the first zero point after the specified distance (travel value after proximity dog ON) after proximity dog ON is set as home position.

The travel value after proximity dog ON is set in the home position return data (Refer to Section 6.23.1).

(2) Home position return by the count type 3

Operation of home position return by count type 3 for not passing the zero point during travel of specified distance set in the “travel value after proximity dog ON” from the home position return start is shown below.

1) It travels to preset direction of home

position return with the home position

V Home position

return speed.

Home position

2) A deceleration is made to the creep speed

return speed

return direction

by the proximity dog ON, after that, it

5)

travels with the creep speed.

3) A deceleration stop is made in the position

which traveled the travel value set as travel

1)

value after proximity dog ON.

Creep speed

4) After a deceleration stop, it travels for one

2)

revolution of servomotor to reverse

direction of home position return with the

3)

home position return speed.

5) It travels to direction of home position

return with the home position return speed,

Home position

Home position

the home position return with first zero

return start

point after traveling the travel value set as

travel value after proximity dog ON from

4)

after the proximity dog ON.

(At this time, a deceleration to the creep

speed is not made with the proximity dog

Home position

OFF to ON. And if the zero point is not

return speed

passed because of droop pulses for

1 revolution

processing of 4) and 5), a minor error "ZCT

not set" (error code: 120) will occur, a

Proximity dog

Zero point

deceleration stop is made and home

position return does not end normally. In

this case, adjust a position of proximity dog

Zero point no passing

ON.)

The travel value in this range is stored in the monitor

register "travel value after proximity dog ON".

The travel value in this range is stored in the monitor

register "home position return re-travel value".

Fig. 6.37 Home position return operation by the count type 3 (zero point no passing)

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