Mitsubishi Electronics Q172HCPU, Q173HCPU 6 POSITIONING CONTROL, 6.23.16 Servo program for home position return

6 POSITIONING CONTROL

6.23.16 Servo program for home position return

The home position return executed using the ZERO servo instruction.

				Items set by peripheral devices
			Common	Arc	Parameter block
		blockParameterNo.	Axis valueAddress/travel speedCommand timeDwell code-M	valuelimitTorque pointAuxiliary Radius pointCentral unitControl	input	interpolation
					valuelimitSpeed timeAcceleration timeDeceleration decelerationstopRapid time valuelimitTorque processingDecelerationon stop	errorAllowablerange for circular
Servo instruction	Positioning method	Number of
		controllable axes

ZERO 1

Others

Speed change

Program No.

Others

S-curve ratio

: Must be set

[Control details]

(1)Home position return is executed by the home position return method specified with the home position return data (Refer to Section 6.23.1).

Refer to the following sections for details of the home position return methods :

• Proximity dog type 1...................	Section 6.23.2
• Proximity dog type 2...................	Section 6.23.3
• Count type 1...............................	Section 6.23.4
• Count type 2...............................	Section 6.23.5
• Count type 3...............................	Section 6.23.6
• Data set type 1............................	Section 6.23.7
• Data set type 2............................	Section 6.23.8
• Dog cradle type...........................	Section 6.23.9
• Stopper type 1............................	Section 6.23.10
• Stopper type 2............................	Section 6.23.11
• Limit switch combined type........	Section 6.23.12

[Program]

Servo program No. 0 for home position return is shown as the following conditions.

(1) System configuration

Home position return of Axis 4.

Motion CPU control module

Q61P Q02H Q172H Q172 QX41

CPU CPU LX

Home position return command (PX000)

AMP	AMP	AMP	AMP
Axis	Axis	Axis	Axis
1 M	2 M	3 M	4 M

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