6.23.11 Home position return by the stopper type 2. Mitsubishi MOTION CONTROLLERS Q172DCPU

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6.23.11 Home position return by the stopper type 2

(1) Stopper type 2

Position of stopper is home position in this method.

It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed". (The torque limit value is valid set in the "torque limit value at the creep speed" of the home position return data from the home position return start.)

Real position of servomotor at the time of detection for turning the torque limiting signal OFF to ON is home position.

Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.

(2) Home position return by the stopper type 2

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

V

Home position return direction Creep speed

Stopper

Real position of servomotor at this point is home position.

Torque limit value

Torque limiting signal

(M2416+20n) t

Home position return start Time which stops rotation of servomotors forcibly by the stopper

Home position return data "torque limit value at the creep speed"

ON

OFF

(Note): "Travel value after proximity dog ON" storage register becomes "0" at the

home position return start.

Fig. 6.42 Home position return operation by the stopper type 2

(3) Home position return execution

Home position return by the stopper type 2 is executed using the servo program in Section 6.23.16.

(4) Cautions

(a) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return.

(b) Home position return retry function cannot be used in the stopper type 2.

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(c) Set the torque limit value at the reaching creep speed for system.

When the torque limit value is too large, servomotors or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the torque limiting before pressing the stopper and ends the home position return.

(d) If the home position return is executed again after home position return completion, a minor error "home position return completion signal is turning

ON at the stopper type home position return start" (error code: 115) will occur, the home position return is not executed.

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