Mitsubishi MR-JE-200A - Page 173

5. HOW TO USE THE PROGRAM
5 - 28
(k) Home position return command (ZRT)
Performs a home position return.
Set the home position with parameters. (Refer to section 5.4.)
With the "ZRT" command, the program proceeds to the next step after the home position return
completion.
POINT
If the home position return has not completed successfully, [AL. 96 Home
position return incomplete warning] occurs. In this case, the program proceeds
to the next step without a stop. Since the home position return is incomplete, the
travel command is disabled.
Command Description
SPN (500) Servo motor speed 500 [r/min] a)
STA (200) Acceleration time constant 200 [ms] b)
STB (300) Deceleration time constant 300 [ms] c)
ZRT Home position return d)
MOV (500) Absolute value travel command 500 [×10
STM
μm] e)
STOP Program stop
Item Parameter to be used Setting
Dog type home position
return
[Pr. PT04]
"_ _ _ 0"
Home position return
direction
[Pr. PT04]
"_ _ 0 _" (Address increasing direction)
Dog input polarity [Pr. PT29] "_ _ _ 1" (Detects dog when DOG (proximity dog) is on.)
Home position return speed [Pr. PT05] 100 [r/min]
Creep speed [Pr. PT06] 50 [r/min]
Home position shift distance [Pr. PT07] 0 [×10
STM
μm]
Acceleration time constant of
home position return
[Pr. PC30]
100 [ms]
Deceleration time constant of
home position return
[Pr. PC31]
200 [ms]
Home position return position
data
[Pr. PT08]
0
Servo motor
speed
Acceleration time
constant of home
position return
(100 ms)
Z-phase
Proximity dog
Position address
Deceleration time
constant of home
position return
(200 ms)
Creep speed
(50 r/min)
b) Acceleration time constan
t
(200 ms)
a) Servo motor
speed
(500 r/min)
c) Deceleration
time constant
(300 ms)
Home position return completion
0
500
e) Absolute value travel command
(500 × 10
STM
μ
m)
d) Home position return command
Reverse rotation
0 r/min
Forward rotation
Home position
return speed (100 r/min)