Mitsubishi Electric MELSEC-Q Series - Home Position Return by the Stopper Method 1; Home Position Return by the Stopper Method 2

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6 POSITIONING CONTROL
6.23.10 Home position return by the stopper method 1
(1) Stopper method 1
Position of stopper is home position in this method.
It travels to the direction set in the "home position return direction" with the "home
position return speed", after a deceleration starts by proximity dog OFF to ON
and it presses against the stopper and makes to stop with the torque limit value
set in the "torque limit value at the creep speed" and "creep speed" of home
position return data. The actual position of the servo motor at the time that the
torque limiting signal OFF to ON is detected is the 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 method 1
Operation of home position return by the stopper method 1 is shown below.
V
t
Home position
return direction
Home position
return speed
Creep speed
Home position
return start
Proximity dog
Torque limit
value
Torque limiting
signal
(M2416+20n)
Stopper
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.
Real position of servo motor
at this point is home position.
ON
OFF
Time which stops rotation of
servo motors forcibly by the
stopper
Home position return data
"torque limit value at the
creep speed"
Torque limit value of
parameter block at the home
position return
Fig. 6.41 Home position return operation by the stopper method 1
(3) Home position return execution
Home position return by the stopper method 1 is executed using the servo
program in Section 6.23.19.