6.23.5 Home position return by the count type 2. Mitsubishi MOTION CONTROLLERS Q172DCPU

6 POSITIONING CONTROL

6.23.5 Home position return by the count type 2

(1) Count type 2

After the proximity dog ON, the position which traveled the specified distance

(travel value after proximity dog ON) is home position in this method.

It is not related for zero point pass or not pass. (If the proximity dog signal of servo amplifier is used, the count type 2 home position return cannot be executed.)

A count type 2 is effective method when a zero point signal cannot be taken.

(However, dispersions will occur to the stop position at the home position return compared with the count type 1.)

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 2

Operation of home position return by count type 2 is shown below.

V

Home position return direction

Home position return speed

Creep speed

(Note): After the proximity dog ON, a position

which traveled the distance "travel

value after proximity dog ON" of the

home position return data is home

position.

t

Home position return start

Proximity dog

The travel value in this range is stored in the monitor register "travel value after proximity dog

ON".

(Note): "Home position return re-travel value" = 0

Fig. 6.36 Home position return operation by the count type 2

(3) Home position return execution

Home position return by the count type 2 is executed using the servo program in

Section 6.23.16.

(4) Cautions

(a) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 2.

When the home position return and continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.

(b) When the "travel value after proximity dog ON" is less than the deceleration distance from "home position return speed" to "creep speed", a minor error

"an overrun occurred because the setting travel value is less than the deceleration distance at the proximity dog signal input during home position return of count type." (error code: 209) will occur and deceleration stop is made.

(c) Command position is the home position.

(d) If in-position signal (M2402+20n) does not turn ON, home position return is not ended.

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