Mitsubishi MR-JE-100A User Manual

5. HOW TO USE THE PROGRAM
5 - 45
5.4.5 Stopper type home position return
For the stopper type home position return, the home position is set where the workpiece pressed against the
stopper of the machine by using the JOG operation, the manual pulse generator operation, or others.
(1) Device/parameter
Set input devices and parameters as follows:
Item Device/parameter to be used Setting
Automatic operation mode of
the program method
MD0 (Operation mode selection 1) Switch on MD0.
Stopper type home position
return
[Pr. PT04] _ _ _ 3: Select the stopper type.
Home position return
direction
[Pr. PT04]
Refer to section 5.4.1 (2) to select the home
position return direction.
Home position return speed [Pr. PT05]
Set the rotation speed until the workpiece is
pressed against the mechanical stopper.
Stopper time [Pr. PT10]
Set the time from when the home position data is
obtained after the workpiece pressed against the
stopper until when ZP (Home position return
completion) is outputted.
Stopper type home position
return torque limit value
[Pr. PT11]
Set the servo motor torque limit value at the
execution of the stopper type home position return.
Acceleration time constant of
home position return
[Pr. PC30]
The acceleration time constant set for [Pr. PC30]
is used.
Deceleration time constant of
home position return
[Pr. PC31]
The deceleration time constant set for [Pr. PC31]
is used.
Home position return position
data
[Pr. PT08]
Set the current position when the home position
return is complete.
Program
DI0 (Program No. selection 1) to
DI3 (Program No. selection 4)
Select a program containing a "ZRT" command,
which performs the home position return.
(2) Timing chart
The following shows a timing chart after a program containing a "ZRT" command is selected.
ON
OFF
MEND (Travel completion)
ON
OFF
CPO (Rough match)
ON
OFF
ST2 (Reverse rotation start)
MD0
(Operation mode selection 1)
ON
OFF
ON
OFF
TLC (Limiting torque)
Torque limit value
ZP
(Home position return completion)
ON
OFF
Servo motor speed
ST1 (Forward rotation start)
ON
OFF
Acceleration time constant
Home position return speed
Home position return
position data
3 ms or shorter
5 ms or longer
Stopper
Stopper time
[Pr. PC35] (Note)[Pr. PT11] [Pr. PC35]
PED (Position end)
ON
OFF
Reverse rotation
0 r/min
Forward rotation
Note. The following torque limits are enabled.

Mitsubishi MR-JE-100A Specifications

General

Brand	Mitsubishi
Model	MR-JE-100A
Category	Amplifier
Language	English