5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.7 Connection of Sensing Module
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5
*3 When performing "dogless home position signal reference method" in the sensing pulse I/O module, the home position, home position
return operation, and home position return data (home position return retry function, dwell time at the home position return retry) is as
follows. Also, servo parameter (PC17) can no longer be set in the sensing pulse I/O module.
*4 Refer to the following for home position return operation.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
• Home position return data
Set "Home position return request setting in pulse conversion unit" and "Standby time after clear signal output in pulse
conversion unit" in the home position return data.
Servo amplifier
model
Linear encoder Home position Home
position
return
operation
*4
Home position return data Servo parameter
(PC17)
Home position
return retry
function
Dwell time at
home position
return retry
MR-MT2200 Home signal (zero
point) position
Operation B Invalid Can not be set
Item Details
Home position return request
setting in pulse conversion unit
• When feedback pulse input is invalid: "0: Home position return request ON at servo OFF"
• When feedback pulse input is valid: "1: Home position return request does not turn ON at servo OFF"
Standby time after clear signal
output in pulse conversion unit
• Set the standby time from the output of the clear signal until position settling. By setting the standby time after clear
signal output in pulse conversion unit, the standby time until the position of home position return settles can be adjusted.
• The standby time after clear signal output in pulse conversion unit and operation example for home position return by
proximity dog method 1 is shown below. (The control operation after immediate stop by zero point signal ON is the same
for other home position return methods.)
OFF
ON
Home position
return complete
Proximity dog
Zero point
signal (PG)
OFF
ON
Clear output
(CLEAR)
Command pulse
output
Prohibited
ValidValid
Home position return speed
Creep speed
Home position shift amount
Standby time after clear signal
output in pulse conversion unit
*1 "Clear signal output pulse width time (PB12)" set time
<Processing>
(1) In the Motion CPU, after detecting the timing of zero point detection start (in this example, when the proximity dog
signal turns OFF), the command pulses are stopped when the sensing pulse I/O module detects the first zero
point signal (PG).
Afterwards, clear output (CLEAR) turns ON.
(2) After clear output (CLEAR) turns ON, the system waits for the standby time after clear signal output in pulse
conversion unit.
(3) After standby time after clear signal output in pulse conversion unit has elapsed, if home position shift amount is
set, the system moves and home position return processing is completed.
*1
Command
speed
Home position
address
(3)
(1)
(2)
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