Mitsubishi Electric Q173HCPU Especificações descarregar pdf (Página 406)

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7 AUXILIARY AND APPLIED FUNCTIONS

7.3.10 Home position return by the stopper type 1

[Control details]

(1) Stopper type 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. 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 1

Operation of home position return by the stopper type 1 is shown below.

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.

Torque limit value of

parameter block at the home

position return

Real position of servomotor

at this point is home position.

Time which stops rotation of

servomotors forcibly by the

stopper

Home position return data "torque limit

value at the creep speed"

OFF

Fig. 7.12 Home position return operation by the stopper type 1

(3) Home position return execution

Home position return by the stopper type 1 is executed using the CHGA

instruction in Section 7.3.16.

When the home position return request is ON, the stopper type 1 home position

return is also made even G28 of the Motion program.

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